Transputer based real time robot control

A parallel processor architecture based on a communicating sequential processor chip, the transputer, is described. The architecture is easily linearly extensible to enable separate functions to be included in the controller. To demonstrate the power of the resulting controller some experimental results are presented comparing PID and full inverse dynamics on the first three joints of a Puma 560 robot. Also examined are some of the sample rate issues raised by the asynchronous updating of inertial parameters, and the need for full inverse dynamics at every sample interval is questioned.

Successful carnivore identification with faecal DNA across a fragmented Amazonian landscape

The use of scat surveys to obtain DNA has been well documented in temperate areas, where DNA preservation may be more effective than in tropical forests. Samples obtained in the tropics are often exposed to high humidity, warm temperatures, frequent rain and intense sunlight, all of which can rapidly degrade DNA. Despite these potential problems, we demonstrate successful mtDNA amplification and sequencing for faeces of carnivores collected in tropical conditions and quantify how sample condition and environmental variables influence the success of PCR amplification and species identification. Additionally, the feasibility of genotyping nuclear microsatellites from jaguar (Panthera onca) faeces was investigated. From October 2007 to December 2008, 93 faecal samples were collected in the southern Brazilian Amazon. A total of eight carnivore species was successfully identified from 71% of all samples obtained. Information theoretic analysis revealed that the number of PCR attempts before a successful sequence was an important negative predictor across all three responses (success of species identification, success of species identification from the first sequence and PCR amplification success), whereas the relative importance of the other three predictors (sample condition, season and distance from forest edge) varied between the three responses. Nuclear microsatellite amplification from jaguar faeces had lower success rates (15-44%) compared with those of the mtDNA marker. Our results show that DNA obtained from faecal samples works efficiently for carnivore species identification in the Amazon forest and also shows potential for nuclear DNA analysis, thus providing a valuable tool for genetic, ecological and conservation studies.

Carnivore mammals in a fragmented landscape in northeast of Sao Paulo State, Brazil

Sao Paulo is the most developed state in Brazil and little of its native vegetation remains. In Luiz Antonio and Santa Rita do Passa Quatro municipalities, only small fragments of cerrado (Brazilian savanna) physiognomies (cerrado, cerrado sensu stricto) and of semideciduous forest have been left, surrounded by eucalyptus silviculture and sugar-cane agriculture. However, that vegetation mosaic still shelters large mammals, including several carnivore species. To detect the carnivores present in such a mosaic area (50,000 ha), and to find out how they use the landscape, we recorded them through 21 camera traps and 21 track plots, during 18 months. Species richness, diversity and relative frequency were evaluated according to the habitat. Ten species were recorded, some of them locally threatened to extinction (Puma concolor, Leopardus pardalis, Chrysocyon brachyurus). Species diversity did not significantly differ among fragments, and although most species preferred one or another habitat, the carnivore community as a whole explored all the study area regardless of the vegetation cover;eucalyptus plantations were as used by the carnivores as the native fragments. Therefore, it seems possible to maintain such animals in agricultural landscapes, where some large native fragments are left and the matrix is permeable to native fauna.

Influence of multi-scale landscape structure on the occurrence of carnivorous mammals in a human-modified savanna, Brazil

So Paulo is the most developed state in Brazil and contains few fragments of native ecosystems, generally surrounded by intensive agriculture lands. Despite this, some areas still shelter large native animals. We aimed at understanding how medium and large carnivores use a mosaic landscape of forest/savanna and agroecosystems, and how the species respond to different landscape parameters (percentage of landcover and edge density), in a multi-scale perspective. The response variables were: species richness, carnivore frequency and frequency for the three most recorded species (Puma concolor, Chrysocyon brachyurus and Leopardus pardalis). We compared 11 competing models using Akaike`s information criterion (AIC) and assessed model support using weight of AIC. Concurrent models were combinations of landcover types (native vegetation, ""cerrado"" formations, ""cerrado"" and eucalypt plantation), landscape feature (percentage of landcover and edge density) and spatial scale. Herein, spatial scale refers to the radius around a sampling point defining a circular landscape. The scales analyzed were 250 (fine), 1,000 (medium) and 2,000 m (coarse). The shape of curves for response variables (linear, exponential and power) was also assessed. Our results indicate that species with high mobility, P. concolor and C. brachyurus, were best explained by edge density of the native vegetation at a coarse scale (2,000 m). The relationship between P. concolor and C. brachyurus frequency had a negative power-shaped response to explanatory variables. This general trend was also observed for species richness and carnivore frequency. Species richness and P. concolor frequency were also well explained by a second concurrent model: edge density of cerrado at the fine (250 m) scale. A different response was recorded for L. pardalis, as the frequency was best explained for the amount of cerrado at the fine (250 m) scale. The curve of response was linearly positive. The contrasting results (P. concolor and C. brachyurus vs L. pardalis) may be due to the much higher mobility of the two first species, in comparison with the third. Still, L. pardalis requires habitat with higher quality when compared with other two species. This study highlights the importance of considering multiple spatial scales when evaluating species responses to different habitats. An important and new finding was the prevalence of edge density over the habitat extension to explain overall carnivore distribution, a key information for planning and management of protected areas.

U-Pb zircon and (40)Ar-(39)Ar K-feldspar dating of syn-sedimentary volcanism of the Neoproterozoic Marica Formation: constraining the age of foreland basin inception and inversion in the Camaqua Basin of southern Brazil

New U-Pb zircon and (40)Ar-(39)Ar K-feldspar data are presented for syn-sedimentary volcanogenic rocks from the Neoproterozoic Marica Formation, located in the southern Brazilian shield. Seven (of nine) U-Pb sensitive high-resolution ion microprobe analyses of zircons from pyroclastic cobbles yield an age of 630.2 +/- 3.4 Ma (2 sigma), interpreted as the age of syn-sedimentary volcanism, and thus of the deposition itself. This result indicates that the Marica Formation was deposited during the main collisional phase (640-620 Ma) of the Brasiliano II orogenic system, probably as a forebulge or back-bulge, craton-derived foreland succession. Thus, this unit is possibly correlative of younger portions of the Porongos, Brusque, Passo Feio, Abapa (Itaiacoca) and Lavalleja (Fuente del Puma) metamorphic complexes. Well-defined, step-heating (40)Ar-(39)Ar K-feldspar plateau ages obtained from volcanogenic beds and pyroclastic cobbles of the lower and upper successions of the Marica Formation yielded 507.3 +/- 1.8 Ma and 506.7 +/- 1.4 Ma (2 sigma), respectively. These data are interpreted to reflect total isotopic resetting during deep burial and thermal effects related to magmatic events. Late Middle Cambrian cooling below ca. 200 degrees C, probably related to uplift, is tentatively associated with intraplate effects of the Rio Doce and/or Pampean orogenies (Brasiliano III system). In the southern Brazilian shield, these intraplate stresses are possibly related to the dominantly extensional opening of a rift or a pull-apart basin, where sedimentary rocks of the Camaqua Group (Santa Barbara and Guaritas Formations) accumulated.

Persistência e riqueza de mamíferos focais em sistemas agropecuários no planalto meridional brasileiro

A demanda pela produção comercial de madeira exótica e criação de gado é uma fonte comum de conflitos que pode produzir um efeito negativo na conservação da vida silvestre. Este conflito é particularmente evidente no sul do Brasil, onde as áreas protegidas não são grandes suficientes para garantir as necessidades de ocupação de espécies com grandes exigências territoriais, e onde a densidade humana é elevada. Desta maneira, a conservação destas espécies precisa ser assegurada com a manutenção de habitats fora das reservas oficiais. O objetivo desta tese foi identificar os padrões de perda de integridade ambiental na paisagem, buscando os limites nos quais a estabilidade de uma comunidade e de sua estrutura trófica podem ser severamente afetados (capítulo 2 e 3), de maneira que estes resultados possam ser utilizados como procedimentos para escolha de áreas a serem protegidas, recuperação ambiental, e seleção de modelos ecologicamente sustentáveis de manejo comercial. Vários características de grupos indicadores baseados na presençaausência de mamíferos florestais (>1kg) foram verificados para este propósito, incluindo a persistência, riqueza, e composição das comunidades, além da riqueza trófica e presença do maior predador da área, o puma Puma concolor. Explorou-se, também, as limitações do uso de estimativas de riqueza de espécies como diretriz exclusiva de ações de conservação. Os resultados mostraram que RE não estava necessariamente relacionada com a melhor integridade ambiental pressuposta, e corroborada através dos outros indicadores (capítulo 3). Adicionalmente, a RE variou com método amostral, resultado que emerge como impecilho para o uso exclusivo deste parâmetro como indicador (capítulo 4). Esta variação implica que inferências de RE baseadas em múltiplos estudos pode resultar em erro se os mesmos métodos amostrais não forem usados em todos eles. A maior parte das espécies amostradas são dependentes da floresta, sendo que a abordagem por indicadores confirmou esta relação, revelando que as comunidades de mamíferos florestais sofreram as maiores perdas em áreas menos florestadas. A configuração da paisagem poderia ser resumida em propriedades particulares de 600 ha, com florestas restritas a menos de 38% na escala de paisagem. Espécies extintas or quase extintas na configuração observada foram a ariranha Pteronura brasiliensis, tamanduá-bandeira Myrmecophaga tridactyla, onça-pintada Panthera onca, anta Tapirus terrestris. Espécies severamente ameaçadas foram o loboguará Chrysocyon brachyurus e queixada Tayassu pecari. Mesmo assim, informações da distribuição histórica destas espécies em ambientes de floresta-savana, antes da colonização completa por causasianos, indicam que a extensão naturalmente reduzida da floresta nestes ambientes não constituía-se em obstáculo para sua existência, a partir do que é possível inferir que a extinção das espécies foi provocada pelo padrão de ocupação rural e atitudes humanas incompatíveis com a existência destas. Atualmente, exceto pelas espécies com maior demanda florestal, muitas demostram uma surpreendente persistência em condições de cobertura florestal nativa de aproximadamente 10% na paisagem rural não urbanizada.

Relações entre barreiros e a fauna de vertebrados no nordeste do Pantanal, Brasil

Os barreiros são áreas de depressões, com pouca cobertura vegetal e solos úmidos, visitadas por muitos animais. O consumo de solo (geofagia) nestes locais é reconhecido para várias espécies de vertebrados em diversas regiões do mundo, sugerindo que os barreiros sejam importantes componentes do hábitat desses organismos. Na Amazônia e no Pantanal, estes lugares são muito procurados por populações humanas tradicionais para a caça. Assim, o conhecimento sobre o uso destas áreas pela fauna é importante para o delineamento de estratégias conservacionistas. A intensidade e horários preferenciais de uso de oito barreiros por vertebrados foram avaliados através de armadilhas fotográficas na Reserva Particular do Patrimônio Natural SESC-Pantanal, nordeste do Pantanal brasileiro. As amostragens foram realizadas durante as estações seca e cheia do ano de 2005. Durante 7375 horas de amostragem, foram registradas 24 espécies de mamíferos, 11 de aves e 2 de répteis utilizando os barreiros de alguma forma. Em 14 destas espécies a geofagia foi documentada, sendo a forma de uso predominante. Este comportamento foi registrado para a cutia (Dasyprocta azarae), o bugio-preto (Alouatta caraya), ungulados (Tayassu pecari, Tapirus terrestris, Pecari tajacu, Sus scrofa, Mazama americana e M. gouazoubira), cracídeos (Penelope ochrogaster, Pipile pipile, Crax fasciolata e Ortalis canicolis) e pombas (Leptotila sp. e Claravis pretiosa). Carnívoros, como a onça-parda (Puma concolor) e a jaguatirica (Leopardus pardalis), visitam estas áreas provavelmente devido à grande concentração de presas. O queixada (T. pecari) e a anta (T. terrestris) foram as espécies que mais utilizaram os barreiros. Os horários preferenciais de uso, em geral, são semelhantes aos padrões de atividade conhecidos para as espécies. A composição de espécies e intensidade de uso foram diferentes entre os barreiros avaliados e entre as estações. Barreiros pequenos apresentaram menor riqueza de espécies e índice de uso mais baixo, parâmetros que foram mais altos na seca em comparação à estação cheia. Diversos fatores, relativos aos barreiros e/ou aos organismos envolvidos, podem estar associados a estas variações. Fatores como tamanho dos barreiros, composição química e estrutural do solo, composição e arranjo da paisagem de entorno, relações dos organismos com esta paisagem e relações intra e interespecíficas podem estar atuando isoladamente ou em sinergismo. Uma das espécies mais freqüentes nos barreiros foi a anta (T. terrestris), um ungulado capaz de responder à heterogeneidade de paisagens em um amplo espectro de escalas. Análises foram realizadas com o objetivo de avaliar se os barreiros, unidades de hábitat em uma escala refinada, são importantes elementos na paisagem para a predição da distribuição local dessa espécie na área da RPPN SESC-Pantanal. Correlações entre a intensidade de uso de oito barreiros por T. terrestris e a composição da paisagem de entorno em diferentes escalas foram realizadas. As probabilidades de ocorrência de antas, obtidas através de um modelo de distribuição potencial a partir da composição da paisagem em áreas de diferentes tamanhos centradas nos barreiros, também foram correlacionadas com a intensidade de uso dos barreiros pela espécie. Áreas com composição da paisagem similar apresentaram diferentes intensidades de uso dos barreiros e locais com reduzida probabilidade de ocorrência de antas apresentaram elevada intensidade de uso, indicando que os barreiros são unidades discretas da paisagem relevantes para a geração de modelos de ocorrência potencial de T. terrestris na região. Considerando estes resultados, os barreiros no nordeste do Pantanal podem ser reconhecidos como importantes unidades de hábitat para diversas espécies de vertebrados. Estratégias conservacionistas locais e regionais, como o zoneamento da RPPN SESC-Pantanal e projetos de manejo e sustentabilidade de caça em reservas extrativistas, devem considerar estas informações para uma maior efetividade.

Mamíferos de médio e grande porte e sua relação com o mosaico de habitats na cuesta de Botucatu, Estado de São Paulo, Brasil

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

DNA extraction from hair shafts of wild Brazilian felids and canids

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

Detecção de predadores por dicromatas e tricromatas humanos e a sua implicação na evolução da visão de cores em primatas

Among placental mammals, primates are the only ones to present trichromatic color vision. However, the distribution of trichromacy among primates is not homogeneous: Old World primates shows an uniform trichromacy (with all individuals being trichromats) and New World primates exhibit a color vision polymorphism (with dichromatic males and dichromatic or trichromatic females). Visual ecology studies have investigated which selective pressures may have been responsible for the evolution of trichromacy in primates, diverging from the dichromat standard found in other mammals. Cues associated with foraging and the socio-reproductive status were analyzed, indicating a trichromatic advantage for the rapid detection of visually conspicuous objects against a green background. However, dichromats are characterized by an efficient capture of cryptic and camouflaged stimuli. These advantages regarding phenotype may be responsible for the maintenance of the visual polymorphism in New World primates and for the high incidence of color blindness in humans (standing around 8% in Caucasian men). An important factor that has not yet been experimentally taken into account is the predation risk and its effect on the evolution of trichromacy in primates. To answer this question, we prepared and edited pictures of animals with different coats: oncillas (Leopardus spp.), puma (Puma concolor) and ferret (Galictis cuja). The specimens were taxidermized and the photographs were taken in three different vegetation scenarios (dense forest, cerrado and grassland). The images of the predators were manipulated so that they fit into two categories of stimulus size (small or large). After color calibration and photo editing, these were presented to 40 humans (20 dichromats and 20 trichromats) by a computer program, which presented a set of four photos at a time (one picture containing the taxidermized animal amid the background vegetation and three depicting only the background vegetation) and recorded the response latency and success rate of the subjects. The results show a trichromatic advantage in detecting potential predators. The predator detection was influenced by the background, the predator species, the dimension of the stimulus and the observer s visual phenotype. As humans have a high rate of dyschromatopsias, when compared to wild Catarrhini or human tribal populations, it is possible that the increased rate of dichromats is a result of reduced pressure for rapid predator detection. Since our species came to live in more cohesive groups and resistant to attack by predators, with the advent of agriculture and the formation of villages, it is possible that the lower risk of predation has reduced the selection in favor of trichromats

Thermo-analyses of polyaniline and its derivatives

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A Case Study: The Effect of Visitors on Two Captive Pumas With Respect to the Time of the Day

This study analyzed the effects of noise levels and number of visitors on the behaviors of a mother puma and her daughter in a zoo environment with respect to the time of day. The study monitored visitation (noise and number) over two 1-week periods (4 weeks between periods) and frequency of various puma behaviors (videorecorded). The study analyzed videotaped behavior of the pumas based on the time of day and visitors number and noise levels. There was a direct association of puma behaviors with visitors number and noise levels. The daughter puma was the most affected and behavioral changes of both pumas correlated more strongly with the noise level than the number of visitors. The noise level and number of visitors affected the behavior of the mother and her daughter only in the morning. The results of this study indicate that both noise level and number of visitors affected these pumas but revealed the noise as predominant. Moreover, the response of these pumas to visitors depended on the time of the day.

A Survey of mid and large bodied mammals in Núcleo Caraguatatuba, Serra do Mar State Park, Brazil

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

Plasma cortisol levels in captive wild felines after chemical restraint

Eight Panthera onca (Po), 13 Felis concolor (Fc), 7 Felis yagouaroundi (Fy), 7 Felis tigrina (Ft) and 5 Felis pardalis (Fp) specimens from São Paulo State zoos were used. All animals were restrained with darts containing 10 mg/kg ketamine and 1 mg/kg xylazine. Venous blood samples were collected as soon as possible (within 15-20 min) and serum was frozen until the time for cortisol quantification. Cortisol was determined using a solid phase radioimmunoassay with an intra-assay coefficient of 8.51%. Data were analyzed statistically by the Kruskal-Wallis test, followed by Dunn's multiple comparisons test, and the one-sample t-test, with the level of significance set at P<0.05. Data are reported as means ± SEM. Cortisol levels differed among the captive felines: Po = 166 ± 33a, Fc = 670 ± 118b, Fy = 480 ± 83b, Ft = 237 ± 42ab, Fp = 97 ± 12a nmol/l (values followed by different superscript letters were significantly different (P<0.001)). Since most of the veterinary procedures on these species involve chemical restraint, these results show the necessity of preventive measures in order to minimize the effect of restraint stress on more susceptible species

Molecular and Serologic Detection of Ehrlichia spp. in Endangered Brazilian Wild Captive Felids

Ehrlichiosis, an emergent tickborne disease that affects both humans and animals, may represent a threat to the survival and preservation of wild felids in Brazil There are few studies of ehrlichiosis in wild felids in Brazil, but Ehrlichia spp are present in domestic cats Antibodies to Ehrlichia canis have been reported in a puma (Puma concolor) In this study we assessed the presence of these hemoparasites in the blood of Brazilian wild captive felids of the 72 animals tested, 5 (7%) were seropositive for the E cams antigen, and L1 (15%) were positive for E emirs DNA sequences We also performed sequence alignment to establish the identity of the parasite species infecting these animals using 16S rRNA and omp-1 genes Sequences based on 16S rRNA were similar to those found in dogs and cats from Thailand, Brazil, China, and Taiwan and with E canis obtained from a single individual (human) in Venezuela Ehrlichia sp sequence from sampled felines based on omp-1. gene was similar to the p28 and p30 multigene family of E canis To our knowledge, this is the first study of molecular detection of Ehrlichia sp in Brazilian wild feline species