Cultural Heritage and Mobile Robotics Technologies

This paper reviews current research works at the authors’ Institutions to illustrate how mobile robotics and related technologies can be used to enhance economical fruition, control, protection and social impact of the cultural heritage. Robots allow experiencing on-line, from remote locations, tours at museums, archaeological areas and monuments. These solutions avoid travelling costs, increase beyond actual limits the number of simultaneous visitors, and prevent possible damages that can arise by over-exploitation of fragile environments. The same tools can be used for exploration and monitoring of cultural artifacts located in difficult to reach or dangerous areas. Examples are provided by the use of underwater robots in the exploration of deeply submerged archaeological areas. Besides, technologies commonly employed in robotics can be used to help exploring, monitoring and preserving cultural artifacts. Examples are provided by the development of procedures for data acquisition and mapping and by object recognition and monitoring algorithms.

Pleistocene mammals from the southern Brazilian continental shelf

Fossils of terrestrial mammals preserved in submarine environment have been recorded in several places around the world. In Brazil such fossils are rather abundant in the southernmost portion of the coast, associated to fossiliferous concentrations at depths up to 10 m. Here is presented a review of such occurrences and the first record of fossils in deeper areas of the continental shelf. The fossils encompass several groups of both extinct and extant mammals, and exhibit several distinct taphonomic features, related to the marine environment. Those from the inner continental shelf are removed and transported from the submarine deposits to the coast during storm events, thus forming large konzentrat-lagerstatte on the beach, called "Concheiros". The only fossils from deeper zones of the shelf known so far are a portion of a skull, a left humerus and of a femur of Toxodon sp. and a lower right molar of a Stegomastodon waringi, all collected by fishermen at depths around 20 m. The presence of fossils at great depths and distances from the present coastline, without signs of abrasion and far from areas of fluvial discharges does indicate that these remains have not been transported from the continent to the shelf, but have been preserved directly on the area that today correspond to the continental shelf. These remains indicate the existence of large fossiliferous deposits that have developed during periods of sea-level lowstand (glacial maxima) and have been submerged and reworked by the sea-level rise at the end of the last glaciation. (C) 2010 Elsevier Ltd. All rights reserved.

The feeding activity of Colossoma macropomum larvae (tambaqui) in fishponds with water hyacinth (Eichhornia crassipes) fertilizer

O objetivo deste trabalho foi avaliar a influência do aguapé como fertilizante orgânico no comportamento alimentar de larvas de tambaqui (Colossoma macropomum) em viveiros de larvicultura. O aguapé foi utilizado para produzir um fertilizante orgânico na proporção de 100 g.m-2. Dois grupos de 5.000 larvas foram transferidos para dois viveiros com e sem fertilizante de macrófita e criados durante um período de 43 dias. O viveiro contendo fertilizante de macrófita apresentou maior abundância de plâncton durante o período de estudo quando comparado ao viveiro controle (P <0,001). A estrutura da comunidade fitoplanctônica não apresentou diferença significativa daquela encontrada no trato digestivo (P > 0,05) e nos viveiros (com e sem fertilizante), evidenciando que as larvas de peixe não apresentaram preferência ou seletividade (P > 0,01) em relação às diferentes algas presentes no viveiro, somente em relação aos organismos zooplanctônicos (P < 0,05). A aplicação de fertilizante aumentou significativamente (P < 0,05) a abundância de fitoplâncton e zooplâncton nos viveiros estudados. O fertilizante de aguapé é fácil de ser obtido e é barato, assim poderá ser utilizado como uma nova alternativa para melhorar a produção dos viveiros de piscicultura.

Caracterização batimétrica e fisicooceanográfica do canal de acesso ao porto de Cabedelo/PB: uma análise ambiental ao derrame de óleo

The State of Paraíba is one of the most dynamic states of Brazil, strategically located in the northeast, is notable for the excellent potential for integration of different transportation modes forming the states of Rio Grande do Norte, Pernambuco and Alagoas. The dynamic that occurs with port activity causes changes in the space where it is installed. And the elements of this space are always more than suffering direct or indirect influences as the flow in the port is expanded. Therefore, this region became subject to the accidental spillage of oil, because it presents a heavy traffic of ships of various sizes that can run aground or collide with oil causing accidental events. The study of geomorphological and sedimentological compositions of seafloor becomes important as more is known about the relationships between these parameters and associated fauna, and can identify their preferred habitats. The database background, acoustically collected along the proposed study area, is a wealth of information, which were duly examined, cataloged and made available. Such information can serve as an important tool, providing a geomorphological survey of the sedimentary area studied, and come to subsidize, in a flexible, future decision making. With the study area Port of Cabedelo, Paraíba - Brazil, this research aimed to evaluate the influence of the tidal surface and background in modeling the seabed, including the acquisition of information about the location of submerged rocky bodies and the depth of these bodies may turn out to be natural traps for the trapping of oil in case of leaks, and obtain the relationship between types of bed and the hydrodynamic conditions present in the region. In this context, for this study were collected bathymetric data (depth) and physical oceanographic (height of water column, water temperature, intensity and direction of currents, waves and turbidity), meteorological (rainfall, air temperature, humidity, winds and barometric pressure) of the access channel to the Port of Cabedelo / PB and its basin evolution (where the cruise ships dock), and includes tools of remote sensing (Landsat 7 ETM +, 2001), so that images and the results are integrated into Geographic Information Systems and used in the elaboration of measures aimed at environmental protection areas under the influence of this scale facilities, serving as a grant to prepare a contingency plan in case of oil spills in the region. The main findings highlight the techniques of using hydroacoustic data acquisition together bathymetric surveys of high and low frequency. From there, five were prepared in bathymetric pattern of Directorate of Hydrography and Navigation - DHN, with the depth in meters, on a scale of 1:2500 (Channel and Basin Evolution of Access to Port of Cabedelo), where there is a large extent possible beachrocks that hinder the movement of vessels in the port area, which can cause collisions, running aground and leaking oil. From the scatter diagram of the vectors of currents, it can be seen as the tidal stream and undergoes a channeling effect caused by the bidirectional effect of the tide (ebb and flood) in the basin of the Port of Cabedelo evolution in NW-direction SE and the highest speed of the currents occurs at low tide. The characterization weather for the period from 28/02 to 04/07/2010 values was within the expected average for the region of study. The multidisciplinary integration of products (digital maps and remote sensing images), proved to be efficient for the characterization of underwater geomorphological study area, reaching the aim to discriminate and enhance submerged structures, previously not visible in the images

Cultivo de Ankistrodesmus gracilis (Reisch) Korsikov (Chlorophyta) em laboratório utilizando meio CHU12 e de macrófita com NPK

Two different culture media, namely CHU12 and inorganic fertilizer NPK (20-5-20) associated with macrophyte (Eichhornia crassipes) extract, were used to evaluate the development of A. gracilis. Growth rate, development, nutritional value and medium water quality were analyzed. A. gracilis in macrophyte+NPK medium had mean cell density (333x10(5) cells/mL) higher than medium CHU12 (302x10(5) cells/mL). Protein rate (12.52% PS), dry weight (397x10(7) pg/cell) and ashes (4.08x10(7) pg/cell) in A. gracilis was higher (p<0.05) than medium macrophyte+NPK. on the other hand, lipids, carbohydrates and fibers had the same rate (p>0.05) in both media. When hydrological variables in the culture medium of A. gracilis are taken into account, dissolved oxygen and free CO2 alone failed to have any significant difference (p>0.05) between the media employed. A. gracilis in the macrophyte+NPK medium had the same nutritional rate as the commercial medium CHU12, with excellent results for alga growth. Macrophyte medium may be used for large scale alga culture in the feed of fish larvae.

Libs in cultural heritage: recognition and identification of objects in an underwater archaeological shipwreck

Nowadays, one of the most important areas of interest in archeology is the characterization of the submersed cultural heritage. Mediterranean Sea is rich in archaeological findings due to storms, accidents and naval battles since prehistoric times. Chemical analysis of submerged materials is an extremely valuable source of information on the origin and precedence of the wrecks, and also the raw materials employed during the manufacturing of the objects found in these sites. Nevertheless, sometimes it is not possible to extract the archaeological material from the marine environment due to size of the sample, the legislation or preservation purposes. In these cases, the in-situ analysis turns into the only alternative for obtaining information. In spite of this demand, no analytical techniques are available for the in-situ chemical characterization of underwater materials. The versatility of laser-induced breakdown spectroscopy (LIBS) has been successfully tested in oceanography 1. Advantages such as rapid and in situ analysis with no sample preparation make LIBS a suitable alternative for field measurements. To further exploit the inherent advantages of the technology, a mobile fiber-based LIBS platform capable of performing remote measurements up to 50 meters range has been designed for the recognition and identification of artworks in underwater archaeological shipwrecks. The LIBS prototype featured both single-pulse (SP-LIBS) and multi-pulse excitation (MP-LIBS) 2. The use of multi-pulse excitation allowed an increased laser beam energy (up to 95 mJ) transmitted through the optical fiber. This excitation mode results in an improved performance of the equipment in terms of extended range of analysis (to a depth of 50 m) and a broader variety of samples to be analyzed (i.e., rocks, marble, ceramics and concrete). In the present work, the design and construction considerations of the instrument are reported and its performance is discussed on the basis of the spectral response, the remote irradiance achieved upon the range of analysis and its influence on plasma properties, as well as the effect of the laser pulse duration and purge gas to the LIBS signal. Also, to check the reliability and reproducibility of the instrument for field analysis several robustness tests were performed outside the lab. Finally, the capability of this instrument was successfully demonstrated in an underwater archaeological shipwreck (San Pedro de Alcántara, Malaga).

Changes in biomass, chemical composition and nutritive value of Spartina alterniflora due to organic pollution in the Itanhaém River Basin (SP, Brazil)

Foram comparados a biomassa, a composição química e o valor nutritivo da macrófita aquática emersa S. alterniflora em um rio impactado por descargas de efluentes domésticos (Rio Guaú) e em um rio bem conservado (Rio Itanhaém). Amostras de S. alterniflora, água e sedimento foram coletadas nos dois rios, em novembro de 2001. O rio Guaú apresentou as maiores concentrações de N-Total e P-Total na água (415 e 674 µg.L-1, respectivamente) e sedimento (0,25 e 0,20% de Massa Seca, respectivamente), em relação a água (NT = 105 µg.L-1; PT= 20 µg.L-1) e sedimento (NT = 0,12% MS; PT = 0,05% MS) do rio Itanhaém. A biomassa aérea (316 g MS.m-2) e subterrânea (425 g MS.m-2) de S. alterniflora no rio Guaú foram significativamente maiores do que no rio Itanhaém (146 e 115 g MS.m-2). Além disto, os valores de NT, proteínas, PT, lipídios e carboidratos solúveis foram significativamente maiores na biomassa de S. alterniflora no rio Guaú. Por outro lado, a fração de parede celular e os teores de polifenóis foram maiores na biomassa de S. alterniflora no rio Itanhaém. Concluiu-se que o lançamento de efluentes domésticos em corpos d'água pode aumentar a biomassa e alterar a composição química de S. alterniflora. A maior disponibilidade de N e P no rio Guaú, provavelmente, é a causa dos maiores valores de biomassa, NT, PT, lipídeos e carboidratos solúveis em S. alterniflora neste rio.

Eficácia do diquat no controle de Hydrilla verticillata, Egeria densa e Egeria najas e toxicidade aguda para o Guaru (Phallocerus caudimaculatus), em condições de laboratório

No Brasil, as macrófitas aquáticas submersas, Egeria densa e Egeria najas, têm causado prejuízos aos usos múltiplos da água. Hydrilla verticillata foi recentemente introduzida, mas tem histórico como planta problemática nos EUA, no México e na Austrália. O objetivo deste trabalho foi avaliar as suscetibilidades relativas dessas três macrófitas aquáticas ao diquat e os riscos da utilização desse herbicida para o guaru (Phallocerus caudimaculatus). Para isso, foram instalados ensaios em condições de laboratório, a fim de avaliar a suscetibilidade relativa das três macrófitas por meio da manutenção de ponteiros dessas plantas em soluções contendo 0,0; 0,2; 0,4; 0,8; e 1,6 mg L-1 de diquat (Reward®) por 14 dias. A avaliação foi realizada pela variação do acúmulo de matéria fresca e do comprimento dos ponteiros no período de exposição ao herbicida. H. verticillata mostrou maior sensibilidade ao diquat em comparação com as duas macrófitas do gênero Egeria, mesmo em baixas concentrações do herbicida. Nas maiores concentrações, E. densa mostrou maior sensibilidade que E. najas. O risco da aplicação do diquat para P. caudimaculatus foi estimado pela toxicidade aguda. Alevinos de P. caudimaculatus de 0,4 ± 0,2 mg foram expostos a soluções de 0,0; 1,0; 5,0; 10,0; 15,0; 20,0; 25,0; e 30,0 mg L-1 de diquat. A concentração letal de 50% (CL(I) (50;96h)) do diquat estimada para P. caudimaculatus foi de 7,17 mg L-1. Para P. caudimaculatus, a toxicidade aguda foi superior à concentração recomendada para o controle de macrófitas aquáticas submersas, indicando risco muito baixo para esse peixe.

VERIFYING SUCCESS OF ARTIFICIAL REEFS IN THE HURON-ERIE CORRIDOR FOR LAKE STURGEON

Lake sturgeon (Acipenser fulvescens) were historically abundant in the Huron-Erie Corridor (HEC), a 160 km river/channel network composed of the St. Clair River, Lake St. Clair, and the Detroit River that connects Lake Huron to Lake Erie. In the HEC, most natural lake sturgeon spawning substrates have been eliminated or degraded as a result of channelization and dredging. To address significant habitat loss in HEC, multi-agency restoration efforts are underway to restore spawning substrate by constructing artificial spawning reefs. The main objective of this study was to conduct post-construction monitoring of lake sturgeon egg deposition and larval emergence near two of these artificial reef projects; Fighting Island Reef in the Detroit River, and Middle Channel Spawning Reef in the lower St. Clair River. We also investigated seasonal and nightly timing of larval emergence, growth, and vertical distribution in the water column at these sites, and an additional site in the St. Clair River where lake sturgeon are known to spawn on a bed of ~100 year old coal clinkers. From 2010-12, we collected viable eggs and larvae at all three sites indicating that these artificial reefs are creating conditions suitable for egg deposition, fertilization, incubation, and larval emergence. The construction methods and materials, and physical site conditions present in HEC artificial reef projects can be used to inform future spawning habitat restoration or enhancement efforts. The results from this study have also identified the likelihood of additional uncharacterized natural spawning sites in the St. Clair River. In addition to the field study, we conducted a laboratory experiment involving actual substrate materials that have been used in artificial reef construction in this system. Although coal clinkers are chemically inert, some trace elements can be reincorporated with the clinker material during the combustion process. Since lake sturgeon eggs and larvae are developing in close proximity to this material, it is important to measure the concentration of potentially toxic trace elements. This study focused on arsenic, which occurs naturally in coal and can be toxic to fishes. Total arsenic concentration was measured in samples taken from four substrate treatments submerged in distilled water; limestone cobble, rinsed limestone cobble, coal clinker, and rinsed coal clinker. Samples were taken at three time intervals: 24 hours, 11 days, and 21 days. ICP-MS analysis showed that concentrations of total arsenic were below the EPA drinking water standard (10 ppb) for all samples. However, at the 24 hour sampling interval, a two way repeated measures ANOVA with a Holm-Sidak post hoc analysis (α= 0.05) showed that the mean arsenic concentration was significantly higher in the coal clinker substrate treatment then in the rinsed coal clinker treatment (p=0.006), the limestone cobble treatment (p

Ecosystem structure in disturbed and restored subtropical seagrass meadows

Shallow seagrass ecosystems frequently experience physical disturbance from vessel groundings. Specific restoration methods that modify physical, chemical, and biological aspects of disturbances are used to accelerate recovery. This study evaluated loss and recovery of ecosystem structure in disturbed seagrass meadows through plant and soil properties used as proxies for primary and secondary production, habitat quality, benthic metabolism, remineralization, and nutrient storage and exchange. The efficacy of common seagrass restoration techniques in accelerating recovery was also assessed. Beyond removal of macrophyte biomass, disturbance to seagrass sediments resulted in loss of organic matter and stored nutrients, and altered microbial and infaunal communities. Evidence of the effectiveness of restoration actions was variable. Fill placement prevented additional erosion, but the resulting sediment matrix had different physical properties, low organic matter content and nutrient pools, reduced benthic metabolism, and less primary and secondary production relative to the undisturbed ecosystem. Fertilization was effective in increasing nitrogen and phosphorus availability in the sediments, but concurrent enhancement of seagrass production was not detected. Seagrass herbivores removed substantial seagrass biomass via direct grazing, suggesting that leaf loss to seagrass herbivores is a spatially variable but critically important determinant of seagrass transplanting success. Convergence of plant and sediment response variables with levels in undisturbed seagrass meadows was not detected via natural recovery of disturbed sites, or through filling and fertilizing restoration sites. However, several indicators of ecosystem development related to primary production and nutrient accumulation suggest that early stages of ecosystem development have begun at these sites. This research suggests that vessel grounding disturbances in seagrass ecosystems create more complex and persistent resource losses than previously understood by resource managers. While the mechanics of implementing common seagrass restoration actions have been successfully developed by the restoration community, expectations of consistent or rapid recovery trajectories following restoration remain elusive.

Ichthyofauna of the Selvagens Islands. Do small coastal areas show high species richness in the northeastern Atlantic?

The Selvagens Islands are located in the northeastern Atlantic between the Canary Islands and Madeira Island. As a result of their small size, remote location and harsh sea conditions only a few studies have been conducted to describe their marine species diversity. We were able to identify 29 new coastal fish species, an increase of 33% in the ichthyofauna described for these islands (n = 88). There is a prevalence of species with tropical affinities and only 2.3% (n = 2) are endemic to Macaronesia. Considered a stepping-stone colonization vector from the nearest continental shore, as proposed by other authors for this region, the Selvagens Islands host 34.1% of the ichthyofauna described for the much larger Canary Islands (nspecies = 258, submerged area nSelvagensIs. = 2.3%) and 47.3% of the ichthyofauna described for the more distantly located Madeira Island (nspecies = 186, submerged area nSelvagensIs. = 17.9%). Interestingly, 6.8% (n = 6) of the species failed to bridge the gap between the Selvagens Islands and Madeira Island. Data collected so far showed no trend toward an increasing number of species with high dispersal capability. The Selvagens Islands are an example of a high coastal species diversity occurring even in very small areas of the northeastern Atlantic Ocean.

Diferenciación molecular de Lemna aequinoctialis y L. Valdiviana (lemnaceae) por patrones proteicos

El estudio se llevó a cabo en el Laboratorio de Genética Molecular de la Universidad Nacional, Heredia, Costa Rica. Se utilizaron plantas acuáticas macrófitas de Lemna valdiviana y L. aequinoctialis previamente identificadas. Estas especies habitan en aguas ricas en sales disueltas y aguas servidas. Recientemente se les consideró como un indicador de la contaminación ocasionada por pesticidas y herbicidas en el agua. La composición proteica llega a niveles entre 38 y 43% de materia seca, importante para diversos usos. La extracción de proteínas totales, por medio de electroforesis discontinua en gel de poliacrilamida, se realizó en condiciones reductoras con SDS (SDS-PAGE). Los geles separadores empleados fueron al 8 y 10%, gel espaciador al 4% y la tinción se efectuó con azul commassie. Los diversos patrones proteicos reflejaron diferencias genéticas entre ambas especies que se pueden deber a las diferencias de hábitat y de reproducción.

Impact of Geomatic Techniques on Topo-Bathymetric Surveys for Coastal Analysis

Sandy coasts represent vital areas whose preservation and maintenance also involve economic and tourist interests. Besides, these dynamic environments undergo the erosion process at different levels depending on their specific characteristics. For this reason, defence interventions are commonly realized by combining engineering solutions and management policies to evaluate their effects over time. Monitoring activities represent the fundamental instrument to obtain a deep knowledge of the investigated phenomenon. Thanks to technological development, several possibilities both in terms of geomatic surveying techniques and processing tools are available, allowing to reach high performances and accuracy. Nevertheless, when the littoral definition includes both emerged and submerged beaches, several issues have to be considered. Therefore, the geomatic surveys and all the following steps need to be calibrated according to the individual application, with the reference system, accuracy and spatial resolution as primary aspects. This study provides the evaluation of the available geomatic techniques, processing approaches, and derived products, aiming at optimising the entire workflow of coastal monitoring by adopting an accuracy-efficiency trade-off. The presented analyses highlight the balance point when the increase in performance becomes an additional value for the obtained products ensuring proper data management. This perspective can represent a helpful instrument to properly plan the monitoring activities according to the specific purposes of the analysis. Finally, the primary uses of the acquired and processed data in monitoring contexts are presented, also considering possible applications for numerical modelling as supporting tools. Moreover, the theme of coastal monitoring has been addressed throughout this thesis by considering a practical point of view, linking to the activities performed by Arpae (Regional agency for prevention, environment and energy of Emilia-Romagna). Indeed, the Adriatic coast of Emilia-Romagna, where sandy beaches particularly exposed to erosion are present, has been chosen as a case study for all the analyses and considerations.

Portofino Seaweed Garden: a local citizen science case study on Ericaria amentacea (C.Agardh) Molinari & Guiry, 2020 restoration

Ericaria amentacea is an endemic alga of the Mediterranean Sea that lives in the littoral rocky fringe. The species is sensitive to environmental changes, so it’s used to assess the water ecological quality. Nevertheless, E. amentacea is deeply impacted by coastal development which cause rapid regression despite data on its distribution and healthy status are still limited. Moreover, it’s little known by people outside the scientific community. In this context, Portofino Seaweed Garden was born, a conservation and citizen science project aim to involve marine outdoor enthusiasts in protecting and restoring E. amentacea, creating a submerged garden. Restoration measures have been encouraged by EU regulations. Here, using citizen science, 1) I evaluated the spatial variability of E. amentacea abundance along the central-eastern Ligurian coast, to evaluate its status and choose donor and restoration sites. 2) I carried out an E. amentacea restoration (with outplanting lab-cultured embryos on 50 clay tiles). 3) I assessed the community involvement and education of volunteers. Simple protocol was created to train them on the monitoring. Unprecedented E. amentacea reproductive mismatch affected the restoration performance, probably caused by marine heat wave that hit the Mediterranean in summer 2022. After fertile apices collection in Pontetto (GE) and during laboratory phase, gametes spawned on the discs didn’t settle as expected. Only 16 tiles showed juveniles and they were outplanted at Punta Castello (C zone of Portofino MPA). Unfortunately, they didn’t survive in the field due to an interplay of physical and biological factors. From citizen science point of view, the project demonstrated positive outcomes of collaborations between people and scientists by involving more than 100 participants. Citizen scientists became specialize in the protocol providing quality data for E. amentacea conservation. Current results suggest that outplanting should be further tested.