Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Swimmer syndrome affecting an entire litter of kittens

Swimmer syndrome is a developmental abnormality characterized by a delay in the ability to walk and move about and is manifested in newborns between 15 and 20 days of age. These animals exhibit constant coxofemoral articulation abduction, and their pelvic limbs move caudally and laterally. This case reports a litter of three crossbreeds kittens (26 days old) with swimmer syndrome. Each animal was treated with physical therapy and shackle bandages that kept their pelvic limbs bent and close to the body. After seven days, all of the animals exhibited normal ambulation, indicating that this treatment had a curative effect on the kittens.

Swimmer syndrome affecting an entire litter of kittens

A síndrome do filhote nadador é uma anormalidade do desenvolvimento caracterizada pelo atraso na capacidade de marcha e deslocamento, a qual se manifesta por volta dos 15 a 20 dias de idade. Os animais apresentam a articulação coxofemoral em constante abdução, deslocando os membros pélvicos lateral e caudalmente. Este trabalho relata uma ninhada de três filhotes felinos, sem raça definida, de 26 dias de idade, acometidos por síndrome do filhote nadador, e discute possíveis causas, complicações e tratamentos. Os filhotes foram submetidos à fisioterapia, algemas e bandagens, as quais mantiveram os membros pélvicos flexionados junto ao corpo. Ao final de sete dias, todos os filhotes apresentavam deambulação normal, e o tratamento proposto pode ser considerado curativo para felinos.

Sugarcane trash management assessed by the interaction of yield with soil properties

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

Leaf-litter decomposition of the mangrove species Avicennia schaueriana, Laguncularia racemosa and Rhizophora mangle

This study evaluated the decomposition process of leaf litter from the main Brazilian mangrove species Avicennia schaueriana, Laguncularia racemosa and Rhizophora mangle. Senescent leaves were collected, dried and placed in nylon bags with different mesh sizes (fine: 2x2mm and coarse: 8x8mm). The bags were distributed over the sediment, and replicates of each species and mesh size were collected periodically over 4months. In the laboratory, the dry weight of the samples was measured, and the decomposition coefficient (k) for each species and mesh size was obtained over time. All species showed a rapid decomposition rate at the beginning of the experiment, followed by a slower but steady rate of decomposition over time. The rate of leaf litter decomposition was highest in A. schaueriana, intermediate in L. racemosa and lowest in R. mangle. The difference was mainly linked to the activity and abundance of detritivores, together with the different litter quality of the species, which determined their palatability and probably influenced the decomposition process.

Effect of brushwood transposition on the leaf litter arthropod fauna in a cerrado area

The results of ecological restoration techniques can be monitored through biological indicators of soil quality such as the leaf litter arthropod fauna. This study aimed to determine the immediate effect of brushwood transposition transferred from an area of native vegetation to a disturbed area, on the leaf litter arthropod fauna in a degraded cerrado area. The arthropod fauna of four areas was compared: a degraded area with signal grass, two experimental brushwood transposition areas, with and without castor oil plants, and an area of native cerrado. In total, 7,660 individuals belonging to 23 taxa were sampled. Acari and Collembola were the most abundant taxa in all studied areas, followed by Coleoptera, Diptera, Hemiptera, Hymenoptera, and Symphyla. The brushwood transposition area without castor oil plants had the lowest abundance and dominance and the highest diversity of all areas, providing evidence of changes in the soil community. Conversely, the results showed that the presence of castor oil plants hampered early succession, negatively affecting ecological restoration in this area.

Do litter manipulations affect leaf functional traits of savanna woody plants?

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Effects of litter manipulation in a tropical Eucalyptus plantation on leaching of mineral nutrients, dissolved organic nitrogen and dissolved organic carbon

Although many studies have shown that soil solution chemistry can be a reliable indicator of biogeochemical cycling in forest ecosystems, the effects of litter manipulations on the fluxes of dissolved elements in gravitational soil solutions have rarely been investigated. We estimated the fluxes of NH4-N, NO3-N, K, Ca, Mg, Na, Cl, dissolved organic nitrogen (DON) and dissolved organic carbon (DOC) over the first two years after re-planting Eucalyptus trees in the coastal area of Congo. Two treatments were replicated in two blocks after clear-cutting 7-year-old stands: in treatment R, all the litter above the mineral soil was removed before planting, and in a double slash (DS) treatment, the amount of harvest residues was doubled. The soil solutions were sampled down to a depth of 4 m and the water fluxes were estimated using the Hydrus 1D model parameterized from soil moisture measurements in 4 plots. Isotopic and spectroscopic analytical techniques were used to assess the changes in dissolved organic matter (DOM) properties throughout the transfer in the soil. The first year after planting, the fluxes of NH4-N, K, Ca, Mg, Na, Cl and DOC in the topsoil of the DS treatment were 2-5 times higher than in R, which showed that litter was a major source of dissolved nutrients. Nutrient fluxes in gravitational solutions decreased sharply in the second year after planting, irrespective of the soil depth, as a result of intense nutrient uptake by Eucalyptus trees. Losses of dissolved nutrients were noticeably low in these Eucalyptus plantations despite a low cation exchange capacity, a coarse soil texture and large amounts of harvest residues left on-site at the clear cut in the DS treatment. All together, these results clarified the strong effect of litter manipulation observed on eucalypt growth in Congolese sandy soils. DOM fluxes, as well as changes in delta C-13, C:N and aromaticity of DOM throughout the soil profile showed that the organic compounds produced in the litter layer were mainly consumed by microorganisms or retained in the topsoil. Below a depth of 15 cm, most of the DOC and the DON originated from the first 2 cm of the soil and the exchanges between soil solutions and soil organic matter were low. (C) 2014 Elsevier B.V. All rights reserved.

Diversity of leaf-litter anurans in a fragmented landscape of the Atlantic Plateau of Sao Paulo State, southeastern Brazil

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

MINERAL NITROGEN SUBSTITUTION BY CHICKEN LITTER IN SUCCESSION OAT/CORN

The constant search for sustainability of production systems have driven research to find alternatives to the problems arising from the intensified use such systems. In this context the present work aimed study the effects of substitution of mineral nitrogen by chicken litter in oat and corn crop in succession and the chemical characteristics of soil. The study was conducted during the period May 2009 to March 2010 in area of Oxisol. The design was of randomized block with four replications. The six treatments were obtained by a combination of different amounts of chicken litter (0, 1500, 3000, 4500, 6000 and 7500 kg ha(-1)) applied 30 days before the sowing of oats combined with the mineral nitrogen applied in coverage in corn (311.1, 257.8, 202.2, 148.9, 95.6, 42.2 kg ha(-1) of urea), for the total supply of 140 kg ha(-1) of nitrogen (N). The application of poultry litter in oat promotes increased the production of dry matter, and content and accumulation of N. The mineral nitrogen substitution by chicken litter increases the yield of corn crop. The use of poultry litter alters the chemical properties of soil, increasing the levels of organic matter, exchangeable Al and acidity potential. However lowers the pH, K, Ca, Mg, sum of bases and base saturation.

Nutrient cycling in two south-east Brazilian forests. I. Litterfall and litter standing crop

Examined litterfall and litter standing crops in Altitudinal forest (AF and Semideciduous forest (SF) at Serra do Japi, Jundiai, Sao Paulo State. Total litterfall was 7 t ha-1 y-1 for AF: 4.9 leaves, 1.8 woody, 0.13 flower, 0.16 fruits; and the total for SF was 8.6 t ha-1 y-1; 5.5 leaves, 2.1 woody, 0.5 flower, 0.4 fruits. Litter standing crop was 5.5 t ha-1 y-1 for the two forest sites studied with a turnover coefficient (K1) of 1.3 for AF and 1.6 for SF. Litterfall occurred throughout the year but was greater during the dry season (August-September); seasonality of litter and leaf fall was greater in SF than in AF. -from Author

Invasive Litter, Not an Invasive Insectivore, Determines Invertebrate Communities in Hawaiian Forests

In Hawaii, invasive plants have the ability to alter litter-based food chains because they often have litter traits that differ from native species. Additionally, abundant invasive predators, especially those representing new trophic levels, can reduce prey. The relative importance of these two processes on the litter invertebrate community in Hawaii is important, because they could affect the large number of endemic and endangered invertebrates. We determined the relative importance of litter resources, represented by leaf litter of two trees, an invasive nitrogen-fixer, Falcataria moluccana, and a native tree, Metrosideros polymorpha, and predation of an invasive terrestrial frog, Eleutherodactylus coqui, on leaf litter invertebrate abundance and composition. Principle component analysis revealed that F. moluccana litter creates an invertebrate community that greatly differs from that found in M. polymorpha litter. We found that F. moluccana increased the abundance of non-native fragmenters (Amphipoda and Isopoda) by 400% and non-native predaceous ants (Hymenoptera: Formicidae) by 200%. E. coqui had less effect on the litter invertebrate community; it reduced microbivores by 40% in F. moluccana and non-native ants by 30% across litter types. E. coqui stomach contents were similar in abundance and composition in both litter treatments, despite dramatic differences in the invertebrate community. Additionally, our results suggest that invertebrate community differences between litter types did not cascade to influence E. coqui growth or survivorship. In conclusion, it appears that an invasive nitrogen-fixing tree species has a greater influence on litter invertebrate community abundance and composition than the invasive predator, E. coqui.

Morphological patterns and community organization in leaf-litter ant assemblages

We present a new approach to determine the number and composition of guilds, using the hyperdiverse leaf-litter ant fauna as a model, based on appropriate morphological variables and species co-occurrence null models to describe the complex assemblages of interacting Species Community structure at the 1-m(2) scale. We obtained 18 linear morphometric measures from 949 workers of 171 leaf-litter ant species (18762 measurements) surveyed in four Atlantic Forest localities to test whether the assemblages are morphologically structured; the morphological characters were selected to indicate diet and foraging habits. Principal components analysis was used to characterize the morphospace and to describe the guild structure (number of species and composition). The guild proportionality assembly rule (significant tendency toward constant proportion of species in guilds) was assessed at the 1-m(2) scale. Our analysis indicates that the division of leaf-litter ants into guilds is based mainly on microhabitat distribution in the leaf-litter, body size and shape, eye size, and phylogeny. The same guild scheme applied to four more sites shows that different Atlantic Forest areas have the same leaf-fitter ant guilds. The guild proportionality assembly rule was confirmed for most guilds, Suggesting that there are guild-specific limitations on species coexistence within assemblages; on the other hand, in a few cases the variance in guild proportion was greater than expected under the null assumptions. Other studies on ant functional group classification are partially supported by our quantitative morphological analysis. Our results, however, imply that there are more compartments than indicated in previous models, particularly among cryptic species (confined to soil and litter) and tropical climate specialists. We argue that a general null model for the analysis of species association based oil morphology can reveal objectively defined groups and may thus contribute to a robust theory to explain community structure in general and have important consequences on studies of litter ant community ecology in particular.

Assembly of Myrmelachista Roger (Formicidae: Formicinae) in twigs fallen on the leaf litter of Brazilian Atlantic Forest

The nests of Myrmelachista are found in tree trunk cavities and branches. The biology of these arboreal ants is still relatively unknown. We investigated the nesting behaviour of this genus in fallen dry twigs in the Atlantic rainforest of southeastern Brazil. Physical characteristics of the nests, colony demographics, presence of breeders and ant worker sizes were recorded. Samples were collected weekly for 12 months, along open, sunny and undisturbed trails within forest remnants. In all, 202 nests were collected and six species were recorded. Myrmelachista ruszkii had the highest population of immatures and the greatest number of nests found. Myrmelachista nodigera had the smallest workers, was the least populous and the colony was housed in the finest branches. These results expand the current knowledge about the diversity and biology of Myrmelachista in the Brazilian Atlantic forest, and describe polydomic nests and competitive behaviour of M. ruszkii.

LITTER DEVOLUTION AND DECOMPOSITION IN A PERIODICALLY FLOODED FOREST IN RESTINGA DA MARAMBAIA, RIO DE JANEIRO

Restinga (sandbank) areas are fragile environments, which have been subjected to anthropogenic pressures since the country colonization. So that mitigate actions can be taken, it must be developed studies to better understand the ecological processes in these environments. Thus, this study aims to quantify litter and nutrients devolution and litter decomposition in a periodically flooded forest in 'Restinga da Marambaia', Rio de Janeiro. In the study area 10 conic collectors and 30 litter bags were installed. The annual litter devolution was 7.64 Mg.ha(-1), and September was the highest contribution month. Nitrogen was the element returned to the soil to a higher amount (71.9 kg ha(-1) yr(-1)), followed by potassium (41.1 kg ha(-1) yr(-1)). Litter decomposition rate 0.0015 g g(-1) day(-1) and the half-life were 462 days. Potassium was the element that showed the highest losses in comparison to the others. Cellulose appeared as a major participant in the structure of leaf litter, followed by lignin, the latter being associated with the leathery texture of the leaves in this formation.