Biomechanical modeling and simulation of the spider crab (maja brachydactyla)

Uma linha de pesquisa e desenvolvimento na área da robótica, que tem recebido atenção crescente nos últimos anos, é o desenvolvimento de robôs biologicamente inspirados. A ideia é adquirir conhecimento de seres biológicos, cuja evolução ocorreu ao longo de milhões de anos, e aproveitar o conhecimento assim adquirido para implementar a locomoção pelos mesmos métodos (ou pelo menos usar a inspiração biológica) nas máquinas que se constroem. Acredita-se que desta forma é possível desenvolver máquinas com capacidades semelhantes às dos seres biológicos em termos de capacidade e eficiência energética de locomoção. Uma forma de compreender melhor o funcionamento destes sistemas, sem a necessidade de desenvolver protótipos dispendiosos e com longos tempos de desenvolvimento é usar modelos de simulação. Com base nestas ideias, o objectivo deste trabalho passa por efectuar um estudo da biomecânica da santola (Maja brachydactyla), uma espécie de caranguejo comestível pertencente à família Majidae de artrópodes decápodes, usando a biblioteca de ferramentas SimMechanics da aplicação Matlab / Simulink. Esta tese descreve a anatomia e locomoção da santola, a sua modelação biomecânica e a simulação do seu movimento no ambiente Matlab / SimMechanics e SolidWorks.

Fecundity of the spider crab Mithraculus forceps (Decapoda, Mithracidae) from the northeastern coast of the state of São Paulo, Brazil

Fecundity is one of the most important parameters in studying the reproductive output of Pleocyemata decapods, especially because of its relationship to the efficiency of population replacement. Knowledge of fecundity provides basic elements for understanding the reproductive strategies, dynamics, and evolution of a given population. The present investigation provides informations on fecundity, egg size, egg loss, and the relationship between fecundity and selected environmental features, for the spider crab Mithraculus forceps (A. Milne Edwards, 1875). Ovigerous crabs were collected each month during 2000, by SCUBA diving, at Couves Island (23º25'25"S, 44º52'03"W) on the northeastern coast of the state of São Paulo, Brazil. A total of 40 ovigerous females with egg in early development (initial stage) and 28 final stage eggs were obtained and analyzed. Mean fecundity, from eggs of the initial stage, was 402.8 ± 240.1 eggs, ranging from 60 to 1,123 eggs. Sizes of females ranged from 9.4 to 14.0 mm carapace width. Mean egg size was 0.56 ± 0.06 mm diameter. A 20.33% rate of egg loss was estimated by comparing the fecundities of batches of eggs in early and late development (40 initial batches and 28 final stages batches). There were no significant relationships between the water temperature or salinity and variations in fecundity. As in most brachyuran species, M. forceps showed a strong conservative relationship between fecundity and body size.

Spermatogenesis of the Spider Crab Maja brachydactyla (Decapoda: Brachyura)

This study describes spermatogenesis in a majid crab (Maja brachydactyla) using electron microscopy and reports the origin of the different organelles present in the spermatozoa. Spermatogenesis in M. brachydactyla follows the general pattern observed in other brachyuran species but with several peculiarities. Annulate lamellae have been reported in brachyuran spermatogenesis during the diplotene stage of first spermatocytes, the early and mid-spermatids. Unlike previous observations, a Golgi complex has been found in midspermatids and is involved in the development of the acrosome. The Golgi complex produces two types of vesicles: light vesicles and electron-dense vesicles. The light vesicles merge into the cytoplasm, giving rise to the proacrosomal vesicle. The electron-dense vesicles are implicated in the formation of an electron-dense granule, which later merges with the proacrosomal vesicle. In the late spermatid, the endoplasmic reticulum and the Golgi complex degenerate and form the structures–organelles complex found in the spermatozoa. At the end of spermatogenesis, the materials in the proacrosomal vesicle aggregate in a two-step process, forming the characteristic concentric three-layered structure of the spermatozoon acrosome. The newly formed spermatozoa from testis show the typical brachyuran morphology.

Sperm Ultrastructure of the Spider Crab Maja brachydactyla (Decapoda: Brachyura)

This study describes the morphology of the sperm cell of Maja brachydactyla, with emphasis on localizing actin and tubulin. The spermatozoon of M. brachydactyla is similar in appearance and organization to other brachyuran spermatozoa. The spermatozoon is a globular cell composed of a central acrosome, which is surrounded by a thin layer of cytoplasm and a cup-shaped nucleus with four radiating lateral arms. The acrosome is a subspheroidal vesicle composed of three concentric zones surrounded by a capsule. The acrosome is apically covered by an operculum. The perforatorium penetrates the center of the acrosome and has granular material partially composed of actin. The cytoplasm contains one centriole in the subacrosomal region. A cytoplasmic ring encircles the acrosome in the subapical region of the cell and contains the structures-organelles complex (SO-complex), which is composed of a membrane system, mitochondria with few cristae, and microtubules. In the nucleus, slightly condensed chromatin extends along the lateral arms, in which no microtubules have been observed. Chromatin fibers aggregate in certain areas and are often associated with the SO-complex. During the acrosomal reaction, the acrosome could provide support for the penetration of the sperm nucleus, the SO-complex could serve as an anchor point for chromatin, and the lateral arms could play an important role triggering the acrosomal reaction, while slightly decondensed chromatin may be necessary for the deformation of the nucleus.

Ontogenetic changes in digestive enzymatic capacities of the spider crab, Maja brachydactyla (Decapoda: Majidae)

Ontogenetic changes in digestive capabilities were analyzed in larvae and first juveniles of the spider crab Maja brachydactyla. Activities of five proteinases (total proteases, trypsin, chymotrypsin, pepsin-like and aminopeptidase), three carbohydrases (amylase, maltase and chitinase), an esterase and an alkaline phosphatase were studied to evaluate digestive enzyme profiles of the species. Both quantitative (spectrophotometry and fluorometry) and qualitative (SDS-PAGE) approaches were used. All assayed enzymes were active from hatching (zoea I-ZI) throughout larval development and in first juveniles. Significant variations during ontogeny were found only in total activities likely as a consequence of digestive system development. Specific activity varied little over ontogeny, being significant only for chitinase. Total proteases, trypsin and pepsin-like activities showed a similar pattern of increase as larval ontogeny advanced, decreasing significantly in juveniles. Chymotrypsin continued to increase, showing maximum activity after metamorphosis. Proteinase zymograms confirmed strong proteolytic activity in first zoeas, with increasing bands over the course of ontogeny, decreasing after metamorphosis. A group of bands with high molecular mass was specific to larval stages. Amylase and maltase showed a parallel pattern of continuous increase of total activity as development advanced. Gel-SDS-PAGE showed unchanged patterns of amylase activity in first zoeas of different ages and the most complex set of bands during larval ontogeny in second zoea. Esterase total activity increased significantly as ZI's aged likely reflecting introduction of a lipid-enriched diet. The importance of lipid accumulation at the beginning of ontogeny was also confirmed by the protease/esterase and amylase/esterase activity ratios, which decreased from hatch to late ZI and might be explained as an adaptation, ensuring the next molt. The results suggest that larvae of M. brachydactyla are capable of digesting a variety of dietary substrates as soon as they hatch.

Development and growth of the early juveniles of the spider crab Maja squinado (Brachyura: Majoidea) in an individual culture system

The spider crab Maja squinado is an endangered Mediterranean species; therefore, culturing it successfully is essential for developing restocking programs. The survival, growth and development of post-larval stages (juvenile crabs, C1-C8) were studied using larvae obtained from adult individuals collected in the Catalan Sea. The juvenile crab stages were cultured individually from a megalopal stage using a semi-open recirculation system to obtain the precise growth data of each juvenile crab stage until C8. Development up to C8 at 20ºC lasted 154±10 days. Survival from C1 to C8 was 5.8 %. Moult increment values in cephothoracic length were similar in all the crab stages (21-35 %). Intermoult duration (9±1 in C1-C2 to 51±8 days in C7-C8) increased sharply from juvenile stage 5. Males and females can be distinguished from C4 based on sexual dimorphism in the pleopods and the presence of gonopores. The allometric growth of the pleon is sex-dependent from C4, with females showing positive allometry and males isometric growth. The juvenile growth rate was lower compared with that of the previously studied Atlantic species Maja brachydactyla.

Diversity of Vibrionaceae bacteria isolated from the haemolymph of the spider crab Maja brachydactyla

Aims: The aim of this study was to characterise and identify vibrios isolated from the haemolymph of apparently healthy adult spider crabs (Maja brachydactyla) wild-caught in the Spanish localities of Galician coast and in the Canary Islands and also from captive animals held at IRTA’s facilities in the Ebro Delta of Catalonia, north-west Spanish Mediterranean coast. Methods and Results: A total of 277 bacterial isolates were obtained, and of these, 171 were characterised with rep-PCR, resulting electrophoretic bands were analysed and clusters formed. Identification of representative strains of each cluster was made by sequencing the 16S rRNA. Samples from animals caught in Galicia and captive at IRTA (around 15–18 C) rendered mostly species belonging to the Splendidus clade (72Æ2 and 76Æ6% respectively), commonly found in cold waters (below 20 C). Higher species diversity was found in the haemolymph of the captive animals. In the warmer Canary Islands waters (around 21 C), the diversity of vibrios is dominated by three clades, Harveyi (Vibrio core group, 39Æ3%), Orientalis (23Æ2%) and Splendidus (21Æ4%) with a species diversity that equals that of the colder captive animals. Conclusions: Differences in the vibrios populations were found in the haemolymph extracted from animals collected from the three localities. Potential new species were found, and their description is under way. Significance and Impact of Study: As with other invertebrates, spider crabs also contain a diverse population of vibrios. These findings should help researchers to diagnose when a crab is infected.

Infestation rates of the pedunculated barnacle Octolasmis lowei (Cirripedia: Poecilasmatidae) on the spider crab Libinia spinosa (Decapoda: Majoidea)

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

Feeding habits of the spider crab Libinia spinosa H. Milne Edwards, 1834 (Decapoda, Brachyura) in Ubatuba Bay, São Paulo, Brazil

The main goal of this study was the identification of the items of the diet of the L. spinosa, based on the stomach contents analysis. The crabs were obtained from Ubatuba region north-eastern shore of São Paulo State. In the laboratory, all the individuals were dissected, the stomach was retreated and fixed in 10% formaline. The alimentary items were identified under stereomicroscope and analysed by the method of Frequency of Occurrence. A total of 194 stomachs was analysed and nine alimentary items were obtained. Unindentified material was found in 98% of analysed stomach and poriferan were present in less then 1% of stomachs. These results pointed a diversified diet explored by this crab, as well as the employment of some different methods for food intake. This suggested that these crabs could occupy different position in the trophic chain.

Postlarval stages and growth patterns of the spider crab Pyromaia tuberculata (Brachyura, Majidae) from laboratory-reared material

The spider crab Pyromaia tuberculata was introduced into southeastern Brazil; ovigerous material was collected and reared in the laboratory. Morphologic changes and growth patterns of post-larval development are reported. Results show that within-stage size variation is lowest in mature stages, especially in the case of females in which there is an apparent size threshold for the last juvenile stages to undergo the puberty molt. A prepuberty molt taking place at the fourth crab stage is indicated by analyzing the allometric growth of the abdomen in females. In contrast, the same procedure using the allometric growth of chelae failed in detecting both the prepuberty and puberty molts in males. Conversely to females, which develop a complex brood chamber at the puberty molt, the enlargement of chelae was not consistent in all postpuberty males. The short instar sequence of this species, in no case exceeding nine stages, is marked by conspicuous morphologic alterations achieved at each molt. Almost all stages can be identified by examining diagnostic features of rostrum, abdomen, sternum, and pleopods.

Reproductive output of the spider crab Epialtus bituberculatus (H. Milne Edwards, 1834) (Crustacea, Decapoda, Brachyura) associated with beds of the alga Sargassum cymosum (C. Agardh, 1820) on the southeastern Brazilian coast

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Population features of the spider crab Acanthonyx scutiformis (Dana 1851) (Crustacea, Majoidea, Epialtidae) associated with rocky-shore algae from southeastern Brazil.

Acanthonyx scutiformis, an endemic species in the Brazilian coast, is commonly found in intertidal rocky-shore algal communities. This study analyzes the population biology of A. scutiformis from Ubatuba region. A total of 371 specimens were collected over one year. Size range was 4.2[long dash]12.7 mm CW (carapace width) for females and 3.7[long dash]15.8 mm CW for males. Females predominated in intermediate size classes, whereas males prevailed in the largest ones. The estimated size when 50% crabs were mature was 10.7 mm CW for males and 8.9 mm CW for females. Sex ratio varied among the demographic groups. The processes that influence A. scutiformis population structure can be related to the different times males and females reach sexual maturity and probably to the distinct predation pressures on each sex during the adult phase.

LARVAL DEVELOPMENT OF THE SPIDER CRAB ACANTHONYX-PETIVERII EDWARDS,H.MILNE, 1834 (DECAPODA, MAJIDAE) IN THE LABORATORY

The larval development of Acanthonyx petiverii H. M. Edwards, 1834, was studied in the laboratory through eggs hatched from ovigerous females collected in Ubatuba, state of São Paulo, Brazil. The rearings were carried out in a climatic room with constant temperature (25 degrees +/- 1 degrees C) and salinity (34,5 parts per thousand). The larvae were maintained individually and the food consisted of Artemia nauplii. The larval development of A. petiverii consists of two zoeal stages and a megalopa. All the larval stages were drawn and described in detail. Tables include those presenting morphological characters that allow the identification of zoeae and megalopa of A. petiverii. A comparative study was realized with previously studied majid species that occur in southern and southeastern Brazil.

Relative growth of spider crab Acanthonyx scutiformis (Dana, 1851) (Crustacea, Decapoda, Majidae)

The dimensions of chelar propodus and abdomen were utilized for the morphometric analysis about the relative growth studies of Acanthonyx scutiformis (Dana, 1851). A total of 297 specimens (114 males and 183 females), was collected in Ubatuba, State of São Paulo, Brazil. The animals were sexed and soarted to maturation phase (immature and mature). The following measurements were made: carapace (length and width), abdomen width and chelar propodus (length and height). In this study was applicated the power function (y= a.x(b)), in which the growth was considered positive allometric with isometric with b=1, and negative allometric with b<1. The alometry becomes isometric, when the results concerning immature and mature females and males are analysed. In the Brachyura male chelipeds are utilized in territorial defense, fight, display and courtship and female abdomens are utilized as a chamber that protect and incubate the eggs.

Size distribution and sex ratio in the spider crab Epialtus brasiliensis (Dana 1852) associated with seaweed on a rocky shore in southeastern Brazil (Crustacea, Decapoda, Brachyura, Majoidea, Epialtidae).

This study analyzed a population of the spider crab Epialtus brasiliensis, in regard to its size distribution, sex ratio and Sexual maturity. The study was conducted on a rocky shore in the Ubatuba region, state of Silo Paulo, Brazil, where a wide strip of algae covers the intertidal zone. A total of 378 specimens were obtained: 200 males (128 juvenile and 72 adult crabs) and 178 females (46 juveniles and 132 adults). Their Sizes ranged from 3.4 to 16.7 mm carapace length (CL). Taking into account that the pubertal and terminal molts are coincident in majid crabs, the maximum sizes attained by males and females are especially dependent on the factors that influence sexual maturity, mainly food resources, temperature and intraspecific competition. Males of E. brasiliensis occurred in all size classes, whereas females occurred only as far the 10th size class (12-13 min CL). file total sex ratio did not differ statistically from 1 : 1, but when the juvenile and adult specimens were analyzed separately the differences between sexes were significantly different, with higher proportions of immature males and mature females. The CL50 calculated for males and females was 10.4, and 6.9 min CL, respectively. Thus, males reach their sexual maturity at a larger size than females. This feature may be important for the reproductive strategy of this species, because larger males probably have greater reproductive Success.