Search results for "Robot"

Epizoic Algae Distribution on the Carapace and Plastron of the European Pond Turtle (Emys orbicularis, Linnaeus, 1758): A Study from the Camargue, Fr…

2016

12 pages; International audience; We investigated epizoic algal assemblages on the shell of European pond turtles (Emys orbicularis) during two years (2013–2014). A total of 60 Emys orbicularis were captured in the three shallow Mediterranean wetlands located in Camargue. Epizoic algae on the plastron (below the shell) and carapace (above the shell) were sampled, identified and counted. Seventy-seven epizoic algal species were identified on the carapace and plastron and comprised in 51 Bacillariophyta, 11 Chlorophyta, 7 Cyanophyta, 6 Euglenophyta, 1 Dinophyta and1Xanthophyta taxa. Our findings indicated a distinct distribution of epizoic algae according to taxonomical group density; Chlorop…

Survey on the presence of non-dioxine-like PCBs (NDL-PCBs) in loggerhead turtles (Caretta caretta) stranded in south Mediterranean coasts (Sicily, So…

2017

A total of 71 loggerhead turtles (Caretta caretta) stranded along the coasts of Sicily (Southern Italy) were examined for non-dioxine like polychlorinated biphenyl (NDL-PCB) levels in muscle and adipose tissue by a gas chromatography-mass spectrometry/mass spectrometry (GC-MS/MS) method. The results revealed 6 high-indicator congener (∑6 PCBIND ) levels in 45% of the loggerhead turtles examined, with mean values of 980.39 ± 2508.39 ng/g wet weight in adipose tissue and 102.53 ± 238.58 ng/g wet weight in muscle tissue. The hexachloro and heptachloro PCB congeners were the most abundant in both the sample types. The highest NDL-PCB levels were reached in an adipose tissue sample of a loggerhe…

Differential impact of marine debris ingestion during ontogenetic dietary shift of green turtles in Uruguayan waters

2018

Anthropogenic debris ingestion has been reported for green turtles in all their life stages worldwide. The aim of the present study is to evaluate the marine debris ingestion by green turtles stranded in Uruguayan coast between 2005 and 2013. Debris items were categorized and quantified by frequency of occurrence, relative weight, volume and number of items. A total of 96 dead stranded turtles were analyzed and 70% presented debris in their guts. The majority of debris found were plastic, being hard plastics the most abundant in weight. We found no differences in debris ingestion in stranded turtles a long the Uruguayan coast. However we detected a negative correlation between the presence …

First data on microflora of loggerhead sea turtle (Caretta caretta) nests from the coastlines of Sicily (Italy)

2020

ABSTRACT Caretta caretta is threatened by many dangers in the Mediterranean basin, but most are human-related. The purposes of this research were: (i) to investigate microflora in samples from six loggerhead sea turtle nests located on the Sicilian coast and (ii) to understand microbial diversity associated with nests, with particular attention to bacteria and fungi involved in failed hatchings. During the 2016 and 2018 summers, 456 eggs and seven dead hatchling from six nests were collected. We performed bacteriological and mycological analyses on 88 egg samples and seven dead hatchlings, allowing us to isolate: Fusarium spp. (80.6%), Aeromonas hydrophila (55.6%), Aspergillus spp. (27.2%) …

Stand out from the Crowd: Small-Scale Genetic Structuring in the Endemic Sicilian Pond Turtle

2020

The geographical pattern of genetic diversity was investigated in the endemic Sicilian pond turtle Emys trinacris across its entire distribution range, using 16 microsatellite loci. Overall, 245 specimens of E. trinacris were studied, showing high polymorphic microsatellite loci, with allele numbers ranging from 7 to 30. STRUCTURE and GENELAND analyses showed a noteworthy, geographically based structuring of the studied populations in five well-characterized clusters, supported by a moderate degree of genetic diversity (FST values between 0.075 and 0.160). Possible explanations for the genetic fragmentation observed are provided, where both natural and human-mediated habitat fragmentation o…

2018

Allometric relationships linking species characteristics to body size or mass (scaling) are important in biology. However, studies on the scaling of life history traits in the reptiles (the nonavian Reptilia) are rather scarce, especially for the clades Crocodilia, Testudines, and Rhynchocephalia (single extant species, the tuatara). Previous studies on the scaling of reptilian life history traits indicated that they differ from those seen in the other amniotes (mammals and birds), but so far most comparative studies used small species samples and also not phylogenetically informed analyses. Here, we analyzed the scaling of nine life history traits with adult body mass for crocodiles (n = 2…

Optimization of 3-DOF Parallel Motion Devices for Low-Cost Vehicle Simulators

2017

Motion generation systems are becoming increasingly important in certain Virtual Reality (VR) applications, such as vehicle simulators. This paper deals with the analysis of the Inverse Kinematics (IK) and the reachable workspace of a three-degrees-of-freedom (3-DOF) parallel manipulator, proposing different transformations and optimizations in order to simplify its use with Motion Cueing Algorithms (MCA) for self-motion generation in VR simulators. The proposed analysis and improvements are performed on a 3-DOF heave-pitch-roll manipulator with rotational motors, commonly used for low-cost motion-based commercial simulators. The analysis has been empirically validated against a real 3-DOF …

Evaluation of Perception Latencies in a Human-Robot Collaborative Environment

2020

The latency in vision-based sensor systems used in human-robot collaborative environments is an important safety parameter which in most cases has been neglected by researchers. The main reason for this neglect is the lack of an accurate ground-truth sensor system with a minimal delay to benchmark the vision-sensors against. In this paper the latencies of 3D vision-based sensors are experimentally evaluated and analyzed using an accurate laser-tracker system which communicates on a dedicated EtherCAT channel with minimal delay. The experimental results in the paper demonstrate that the latency in the vision-based sensor system is many orders higher than the latency in the control and actuat…

Feasibility Analysis For Constrained Model Predictive Control Based Motion Cueing Algorithm

2019

International audience; This paper deals with motion control for an 8-degree-of-freedom (DOF) high performance driving simulator. We formulate a constrained optimal control that defines the dynamical behavior of the system. Furthermore, the paper brings together various methodologies for addressing feasibility issues arising in implicit model predictive control-based motion cueing algorithms.The implementation of different techniques is described and discussed subsequently. Several simulations are carried out in the simulator platform. It is observed that the only technique that can provide ensured closed-loop stability by assuring feasibility over all prediction horizons is a braking law t…

LMI-based 2D-3D Registration: from Uncalibrated Images to Euclidean Scene

2015

International audience; This paper investigates the problem of registering a scanned scene, represented by 3D Euclidean point coordinates , and two or more uncalibrated cameras. An unknown subset of the scanned points have their image projections detected and matched across images. The proposed approach assumes the cameras only known in some arbitrary projective frame and no calibration or autocalibration is required. The devised solution is based on a Linear Matrix Inequality (LMI) framework that allows simultaneously estimating the projective transformation relating the cameras to the scene and establishing 2D-3D correspondences without triangulating image points. The proposed LMI framewo…