Natural terrain constantly challenges locomotor stability. Bipedal parasagittal runners rely on proximo-distal control mechanisms and passive mechanical mechanisms to rapidly adjust to changing environments. However, it is not known how sprawled bipedal runners, like the basilisk lizard, adjust to unexpected perturbations. This study examines how basilisks navigate visible drop perturbations to elucidate the control strategies used to maintain stability. We ran four basilisk lizards along a 2.7 m long trackway with an embedded 6-d.o.f. force plate. Control trials were recorded with the force plate mounted flush to the track surface. We lowered the plate to 40% of the lizards’ limb length, relative to the track surface, for perturbation trials. We hypothesized that much like parasagittal runners, basilisks would rely on three distinct compensatory mechanisms to convert the potential energy (PE) change from the drop into fore-aft and vertical kinetic energy (KE) or to increase the total energy of the system (Ecom), as well as a fourth potential mechanism converting PE into medio-lateral KE, as a result of their sprawled limb posture. On average, lizards ran slower (T-ratio30=2.548, p = 0.0162) and with a more vertical limb posture (T-ratio28=-6.119, p < 0.0001) during the drop perturbation. As expected, vertical KE increased in drop surface trials. However, contrary to our hypothesis, the drop perturbation appeared to have little detectable effect on fore-aft and medio-lateral KE. Preliminarily, these results suggest that the sprawled limb posture may afford increased robustness to perturbations such as a sudden drop in surface height, facilitating kinematic compensations independent of significant kinetic changes. / Kinesiology

Plants produce a number of substances and products and primary and secondary metabolites (SM) are amongst them with many benefits but limitation as well. Usually, the fodder are not considered toxic to animals or as a source having higher SM. The Brachiaria decumbens has a considerable nutritional value, but it is considered as a toxic grass for causing photosensitization in animals, if the grass is not harvested for more than 30 days or solely. The absence of detailed information in the literature about SM in Brachiaria, metabolites production and its chemical profile enable us to focus not only on the nutritive value but to get answers in all aspects and especially on toxicity. The study was conducted in the period of december 2013 to december 2014; in greenhouse FZEA-USP. B. decumbens was used with two cutting heights (10 and 20 cm) and nitrogen doses (0, 150, 300 and 450 kg ha-1) in complete randomized block design. The bromatological analysis were carried out on near infrared spectroscopy. Generally, the application of 150 kg ha-1 N was sufficient to promote the nutritional value in B. decumbens but above it the nitrogen use efficiency decline significantly. The highest dry matter yield (99.97 g/pot) was observed in autumn and the lowest was in winter (30.20 g/pot). While, as per nitrogen dose the average highest dry matter yield was at 150 kg ha-1 (79.98 g/pot). The highest crude protein was observed in winter (11.88%) and the lowest in autumn (7.78%). By the cutting heights; the 10 cm proved to have high CP (9.51%). In respect of fibrous contents, the highest acid detergent fiber was noted in summer (36.37%) and lowest in winter (30.88%). While the neutral detergent fiber was being highest in autumn and lowest in spring (79.60%). The highest in vitro dry matter and organic matter digestibilities were noted at 300 kg ha-1 N; being 68.06 and 60.57%; respectively; with the lowest observed in without N treatments (62.63% and 57.97), respectively. For determination of the classes, types and concentration of SM in B. decumbens, phytochemical tests, thin layer and liquid chromatography-mass spectrometry and nuclear magnetic resonance analysis were carried out. Height, nitrogen and seasons significantly (P <0.0001) affected the secondary metabolic profile. A new protodioscin isomer (protoneodioscin (25S-)) was identified for first time in B. decumbens and is supposed to be the probable toxicity reason. Its structure was verified by 1D and 2D NMR techniques (1H, 13C) and 1D (COSY-45, edited HSQC, HMBC, H2BC, HSQC -TOCSY, NOESY and 1 H, 1 H, J). All factors influence the metabolic profile significantly (P <0.0001). The lowest phenols were at 300 kg ha-1 while the lowest flavones were at 0 kg ha-1. Season wise the highest phenols occurred in autumn (19.65 mg/g d.wt.) and highest flavones (28.87 mg/g d.wt.) in spring. Seasons effect the saponin production significantly (P <0.0001) and the results showed significant differences in the protodioscin (17.63±4.3 - 22.57±2.2 mg/g d.wt.) and protoneodioscin (23.3±1.2 - 31.07±2.9 mg/g d.wt.) concentrations. The highest protodioscin isomers concentrations were observed in winter and spring and by N doses the highest were noted in 300 kg ha-1. Simply, all factors significantly played their role in varying concentrations of secondary metabolites. / As plantas produzem diversas substâncias e produtos e os metabólitos primários e secundários (MS) estão entre eles, apresentando tanto efeitos benéficos como limitação de utilização. Geralmente, a forrageiras não são consideradas tóxicas aos animais ou como fonte de MS. As espécies de braquiárias são caracterizadas pelo alto valor nutricional, entretando a Brachiaria decumbens é a espécie mais tóxica para causar a fotossensibilização. A ausência de informações detalhadas na literatura a respeito de MS, sua produção e perfil químico nos faz focar não somente no aumento da produção de matéria fresca e no valor nutritivo da planta mas, em obter respostas em todos os aspectos e na redução de sua toxicidade. O estudo foi conduzido no período de dezembro 2013 ate dezembro 2014, em casa de vegetação localizada na FZEA-USP. Utilizou-se duas alturas de corte (10 e 20 cm) e quatro doses de nitrogênio (0, 150, 300 e 450 kgoha-1) em delineamento de blocos casualizados (4x2). Altura, doses de N e estação afetaram significativamente o perfil de MS. Houve aumento na produção de saponina nas estações da primavera e outono devido ao estresse. A análise bromatológica foi feita por espectroscopia de infravermelho próximo. Geralmente, a aplicação de 150 kgoha-1 de N foi suficiente para promover o valor nutricional na B. decumbens, entretanto acima desse valor a eficiência de uso de Nitrogênio decai significativamente. A maior produção de matéria seca (MS) (99,97 g/vaso) foi observada no outono e a menor foi no inverno (30,20 g/vaso). Embora, de acordo com a dose de nitrogênio, o maior rendimento médio de matéria seca foi de 150 kgoha-1 (79,98 g/vaso). Observou-se que o maior teor de proteína bruta (CP) foi no inverno (11,88%) e o menor foi no outono (7,78%). Pelas alturas de corte, os 10 cm provaram ter alta CP (9,51%). A respeito do conteúdo fibroso, o maior teor de fibra detergente ácida foi observado no verão (36,37%) e o teor mais baixo no inverno (30,88%). Por outro lado, o teor da fibra em detergente neutro foi maior no outono e o menor teor na primavera (79,60%). As maiores digestibilidades in vitro da matéria seca e matéria orgânica foram observadas em 300 kgoha-1 de N, sendo 68,06% e 60,57% com o menor valor observado em tratamentos sem N (62,63% e 57,97%), respectivamente. Para determinação das classes, tipos e concentração de MS em B. decumbens, foram realizados testes por fitoquímico, cromatografia de camada fina, cromatografia líquida acoplada à espectrometria de massa e ressonância magnética nuclear. Foi identificado um novo isômero de protodioscina (protoneodioscina (25S-) pra primeria vez na B. decumbens que é supostamente a provável razão da toxicidade. Sua estrutura foi verificada pelo 1D e 2D (1H combinação de 1D (1H, 13C) e a técnica 1D RMN (COSY-45, editado HSQC, HMBC, H2BC, HSQC-TOCSY, NOESY e 1H, 1H, J) como O-α-L -rhamnopyranosyl- (1 4) -O-β-D- glucopiranosil- (1 6) -O-β-D-6-O-acetylglucopyranosyl-] (1 2) - p-D-glucopiranosil-28 medicagen. Todos os fatores influenciaram o perfil metabólico significativamente (P <0,0001). Para flavonas, a menor produção foi observada em outono (19,65 mg/g peso seco (p.s)) e a maior na primavera (28.87 mg/g p.s). As concentrações de saponina foram afetadas significativamente (P<0,0001) pelas estações e os resultados mostraram diferenças na protodioscina (17,63±4,3 - 22,57±2,2 p.s) e protoneodioscina (23,3±1,2 - 31,07±2,9 p.s). Os maiores teores da concentração dos isômeros de protodioscina foram observados no inverno e na primavera e em relação ao N aplicado, o maior teor foi de 300 kgoha-1. Simplesmente, todos os fatores influenciaram significativamente a variação das concentrações dos metabólitos secundários.

Plants produce a number of substances and products and primary and secondary metabolites (SM) are amongst them with many benefits but limitation as well. Usually, the fodder are not considered toxic to animals or as a source having higher SM. The Brachiaria decumbens has a considerable nutritional value, but it is considered as a toxic grass for causing photosensitization in animals, if the grass is not harvested for more than 30 days or solely. The absence of detailed information in the literature about SM in Brachiaria, metabolites production and its chemical profile enable us to focus not only on the nutritive value but to get answers in all aspects and especially on toxicity. The study was conducted in the period of december 2013 to december 2014; in greenhouse FZEA-USP. B. decumbens was used with two cutting heights (10 and 20 cm) and nitrogen doses (0, 150, 300 and 450 kg ha-1) in complete randomized block design. The bromatological analysis were carried out on near infrared spectroscopy. Generally, the application of 150 kg ha-1 N was sufficient to promote the nutritional value in B. decumbens but above it the nitrogen use efficiency decline significantly. The highest dry matter yield (99.97 g/pot) was observed in autumn and the lowest was in winter (30.20 g/pot). While, as per nitrogen dose the average highest dry matter yield was at 150 kg ha-1 (79.98 g/pot). The highest crude protein was observed in winter (11.88%) and the lowest in autumn (7.78%). By the cutting heights; the 10 cm proved to have high CP (9.51%). In respect of fibrous contents, the highest acid detergent fiber was noted in summer (36.37%) and lowest in winter (30.88%). While the neutral detergent fiber was being highest in autumn and lowest in spring (79.60%). The highest in vitro dry matter and organic matter digestibilities were noted at 300 kg ha-1 N; being 68.06 and 60.57%; respectively; with the lowest observed in without N treatments (62.63% and 57.97), respectively. For determination of the classes, types and concentration of SM in B. decumbens, phytochemical tests, thin layer and liquid chromatography-mass spectrometry and nuclear magnetic resonance analysis were carried out. Height, nitrogen and seasons significantly (P <0.0001) affected the secondary metabolic profile. A new protodioscin isomer (protoneodioscin (25S-)) was identified for first time in B. decumbens and is supposed to be the probable toxicity reason. Its structure was verified by 1D and 2D NMR techniques (1H, 13C) and 1D (COSY-45, edited HSQC, HMBC, H2BC, HSQC -TOCSY, NOESY and 1 H, 1 H, J). All factors influence the metabolic profile significantly (P <0.0001). The lowest phenols were at 300 kg ha-1 while the lowest flavones were at 0 kg ha-1. Season wise the highest phenols occurred in autumn (19.65 mg/g d.wt.) and highest flavones (28.87 mg/g d.wt.) in spring. Seasons effect the saponin production significantly (P <0.0001) and the results showed significant differences in the protodioscin (17.63±4.3 - 22.57±2.2 mg/g d.wt.) and protoneodioscin (23.3±1.2 - 31.07±2.9 mg/g d.wt.) concentrations. The highest protodioscin isomers concentrations were observed in winter and spring and by N doses the highest were noted in 300 kg ha-1. Simply, all factors significantly played their role in varying concentrations of secondary metabolites. / As plantas produzem diversas substâncias e produtos e os metabólitos primários e secundários (MS) estão entre eles, apresentando tanto efeitos benéficos como limitação de utilização. Geralmente, a forrageiras não são consideradas tóxicas aos animais ou como fonte de MS. As espécies de braquiárias são caracterizadas pelo alto valor nutricional, entretando a Brachiaria decumbens é a espécie mais tóxica para causar a fotossensibilização. A ausência de informações detalhadas na literatura a respeito de MS, sua produção e perfil químico nos faz focar não somente no aumento da produção de matéria fresca e no valor nutritivo da planta mas, em obter respostas em todos os aspectos e na redução de sua toxicidade. O estudo foi conduzido no período de dezembro 2013 ate dezembro 2014, em casa de vegetação localizada na FZEA-USP. Utilizou-se duas alturas de corte (10 e 20 cm) e quatro doses de nitrogênio (0, 150, 300 e 450 kgoha-1) em delineamento de blocos casualizados (4x2). Altura, doses de N e estação afetaram significativamente o perfil de MS. Houve aumento na produção de saponina nas estações da primavera e outono devido ao estresse. A análise bromatológica foi feita por espectroscopia de infravermelho próximo. Geralmente, a aplicação de 150 kgoha-1 de N foi suficiente para promover o valor nutricional na B. decumbens, entretanto acima desse valor a eficiência de uso de Nitrogênio decai significativamente. A maior produção de matéria seca (MS) (99,97 g/vaso) foi observada no outono e a menor foi no inverno (30,20 g/vaso). Embora, de acordo com a dose de nitrogênio, o maior rendimento médio de matéria seca foi de 150 kgoha-1 (79,98 g/vaso). Observou-se que o maior teor de proteína bruta (CP) foi no inverno (11,88%) e o menor foi no outono (7,78%). Pelas alturas de corte, os 10 cm provaram ter alta CP (9,51%). A respeito do conteúdo fibroso, o maior teor de fibra detergente ácida foi observado no verão (36,37%) e o teor mais baixo no inverno (30,88%). Por outro lado, o teor da fibra em detergente neutro foi maior no outono e o menor teor na primavera (79,60%). As maiores digestibilidades in vitro da matéria seca e matéria orgânica foram observadas em 300 kgoha-1 de N, sendo 68,06% e 60,57% com o menor valor observado em tratamentos sem N (62,63% e 57,97%), respectivamente. Para determinação das classes, tipos e concentração de MS em B. decumbens, foram realizados testes por fitoquímico, cromatografia de camada fina, cromatografia líquida acoplada à espectrometria de massa e ressonância magnética nuclear. Foi identificado um novo isômero de protodioscina (protoneodioscina (25S-) pra primeria vez na B. decumbens que é supostamente a provável razão da toxicidade. Sua estrutura foi verificada pelo 1D e 2D (1H combinação de 1D (1H, 13C) e a técnica 1D RMN (COSY-45, editado HSQC, HMBC, H2BC, HSQC-TOCSY, NOESY e 1H, 1H, J) como O-α-L -rhamnopyranosyl- (1 4) -O-β-D- glucopiranosil- (1 6) -O-β-D-6-O-acetylglucopyranosyl-] (1 2) - p-D-glucopiranosil-28 medicagen. Todos os fatores influenciaram o perfil metabólico significativamente (P <0,0001). Para flavonas, a menor produção foi observada em outono (19,65 mg/g peso seco (p.s)) e a maior na primavera (28.87 mg/g p.s). As concentrações de saponina foram afetadas significativamente (P<0,0001) pelas estações e os resultados mostraram diferenças na protodioscina (17,63±4,3 - 22,57±2,2 p.s) e protoneodioscina (23,3±1,2 - 31,07±2,9 p.s). Os maiores teores da concentração dos isômeros de protodioscina foram observados no inverno e na primavera e em relação ao N aplicado, o maior teor foi de 300 kgoha-1. Simplesmente, todos os fatores influenciaram significativamente a variação das concentrações dos metabólitos secundários.

abstract: Basilisk lizards are often studied for their unique ability to run across the surface of water. Due to the complicated fluid dynamics of this process, the forces applied on the water’s surface cannot be measured using traditional methods. This thesis presents a novel technique of measuring the forces using a fluid dynamic force platform (FDFP), a light, rigid box immersed in water. This platform, along with a motion capture system, can be used to characterize the kinematics and dynamics of a basilisk lizard running on water. This could ultimately lead to robots that can run on water in a similar manner. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2019

Submitted by Nathália Faria da Silva (nathaliafsilva.ufv@gmail.com) on 2017-07-06T19:39:00Z No. of bitstreams: 1 texto completo.pdf: 161610 bytes, checksum: 15426ce92812cf5a0993af6b0da4ec1a (MD5) / Made available in DSpace on 2017-07-06T19:39:00Z (GMT). No. of bitstreams: 1 texto completo.pdf: 161610 bytes, checksum: 15426ce92812cf5a0993af6b0da4ec1a (MD5) Previous issue date: 2002-04-03 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / O experimento foi conduzido na Universidade Federal de Viçosa para avaliar o fluxo de biomassa e o acúmulo de forragem em relvado de Brachiaria decumbens cv. Basilisk, mantido a três alturas sob pastejo em lotação contínua e variável. As alturas estudadas foram de 7,7; 12,0; e 17,0 cm, distribuídas por seis piquetes, segundo delineamento inteiramente casualizado com duas repetições. Durante o período experimental, foram feitas três adubações em cobertura, cada uma delas consistindo na aplicação de 200 kg/ha de sulfato de amônia, 150 kg/ha de super fosfato simples e 60 kg/ha de cloreto de potássio, em outubro de 1998, dezembro de 1998 e janeiro de 1999. As variáveis estudadas foram: disponibilidade de biomassa, relação folha/colmo, índice de área foliar (IAF), intercepção da radiação fotossinteticamente ativa (RFA), população de perfilhos e taxas de aparecimento (TA p F), de alongamento (TA l F) e de senescência (TSF) de folhas e de acúmulo líquido de forragem (ALF). Em cinco datas: 22/01/99, 11/02/99, 08/03/99, 30/03/99 e 20/04/99, foram colhidas amostras e/ou feitas leituras referentes às características estruturais, enquanto as características morfogênicas foram estudadas em quatro períodos: 14/01 a 28/01/99, 24/02 a 09/03/99, 26/03 a 10/04/99 e 23/04 a 07/05/99. A análise viiestatística dos dados foi feita segundo delineamento de casualização completa, com medidas repetidas no tempo. A disponibilidade de biomassa, que atingiu o valor médio de 3.213 kg/ha de MSV, não variou (P>0,05) em função da altura de relvado, senão em função da data de amostragem, exibindo menor valor na última data (20/04/99). A relação folha/colmo variou entre os limites de 0,39 e 0,83, sendo influenciada pela interação altura do relvado e pelas diferentes datas de amostragem. A população de perfilhos e o IAF não variaram em função da altura do relvado, observando-se valores médios de 1.958 perfilhos/m 2 , IAF = 2,3. As características morfogênicas, taxas de aparecimento, de alongamento e de senescência foliar, não foram afetadas pela altura do relvado, sendo observados valores médios de: 0,07 folhas.perfilho -1 .dia -1 ; 11,2 mm.perfilho -1 .dia -1 ; e 2,9 mm.perfilho -1 .dia -1 , respectivamente. A taxa de acúmulo líquido de forragem não variou (P>0,05) com a altura do relvado, apesar da tendência de variação, sendo observados valores extremos de 35,2 e 72,7 kg.ha -1 .dia -1 de MSV. Variáveis de meio – temperatura e precipitação pluvial – e a adubação mostraram-se fatores mais determinantes das variáveis estudadas que as alturas do relvado estudadas. / An experiment was carried out to estimate the structural and morphogenic traits and rates of herbage accumulation in signalgrass sward. Three sward heights 7.7 – 10.0 and 17.0 cm were studied, with two replicates, in a completely randomized design. The experimental paddocks received NPK fertilizer applications, at the rates of N (40 kg/ha), P 2 O 5 (33 kg/ha) e K 2 O (36 kg/ha), in late October 1998, early December 1998 and January 1999. The response variables assessed were: biomass availability, leaf:stem ratio, leaf area index (LAI), interception of photosyntheticatly active radiation (PAR), tiller population density as well as the leaf appearance, leaf elongation and leaf senescence and net rates of herbage accumulation (NHA). Sampling and measurements were performed on five dates: January/22; February/11; March/08; March/30 and April/20/99 regarding the structural traits, while the morphogenic traits were assessed during four periods: January/14 to January/28; February/24 to March/09; March/26 to April/10 and April/23 to May/07/99. Experimental data analyses were performed according ixto the completely randomized design with repeated measurement feature. Biomass availability averaged 3,213 kg/ha MS, without showing sward height effect (P>0.05) but sampling time effect. Leaf:stem ratio varied for 0.39 to 0.83, showing a significant height X sampling date interaction (P<0.05). Tiller population density, LAI and PAR interception data did not show effect of sward heights (P>0.05), mean values being: 1,958 tilles/m 2 , 2.3 and 32%, respectively. Morphogenic traits such as leaf appearance rate, leaf elongation rate and leaf senescence rate did not vary (P>0.05) with sward heights. Mean figures were: 0.07 leaf.tiller -1 .day -1 ; 11.2 mm.tiller -1 .day -1 and 2.9 mm.tiller -1 .day -1 , respectively. Net herbage accumulation did not vary with sward height, despite a tendency for higher values being observed in sward maintained at greater height. Environmental conditions, such as temperature and rainfall, and fertilization had the most effect on the assessed variables.

abstract: August Krogh, a 20th century Nobel Prize winner in Physiology and Medicine, once stated, "for such a large number of problems there will be some animal of choice, or a few such animals, on which it can be most conveniently studied." What developed to be known as the Krogh Principle, has become the cornerstone of bioinspired robotics. This is the realization that solutions to various multifaceted engineering problems lie in nature. With the integration of biology, physics and engineering, the classical approach in solving engineering problems has transformed. Through such an integration, the presented research will address the following engineering solution: maneuverability on and through complex granular and aquatic environments. The basilisk lizard and the octopus are the key sources of inspiration for the anticipated solution. The basilisk lizard is a highly agile reptile with the ability to easily traverse on vast, alternating, unstructured, and complex terrains (i.e. sand, mud, water). This makes them a great medium for pursuing potential solutions for robotic locomotion on such terrains. The octopus, with a nearly soft, yet muscular hydrostat body and arms, is proficient in locomotion and its complex motor functions are vast. Their versatility, "infinite" degrees of freedom, and dexterity have made them an ideal candidate for inspiration in the fields such as soft robotics. Through conducting animal experiments on the basilisk lizard and octopus, insight can be obtained on the question: how does the animal interact with complex granular and aquatic environments so effectively? Following it through by conducting systematic robotic experiments, the capabilities and limitations of the animal can be understood. Integrating the hierarchical concepts observed and learnt through animal and robotic experiments, it can be used towards designing, modeling, and developing robotic systems that will assist humanity and society on a diversified set of applications: home service, health care, public safety, transportation, logistics, structural examinations, aquatic and extraterrestrial exploration, search-and-rescue, environmental monitoring, forestry, and agriculture, just to name a few. By learning and being inspired by nature, there exist the potential to go beyond nature for the greater good of society and humanity. / Dissertation/Thesis / Doctoral Dissertation Mechanical Engineering 2020