Maneuverability modeling and trajectory tracking for fish robot

This study develops a 6-DOF mathematical model for a robotic fish that considers surge, sway, heave, roll, pitch, and yaw. The model considers the conditions of a fish swimming in ocean current perturbations similar to the ocean current perturbations of the slender-body autonomous underwater vehicles. For swimming and turning behaviors, a nonlinear, dynamic, carangiform locomotion model is derived by using a planar four-link model. A 2-DOF barycenter mechanism is proposed to provide body stabilization and to serve as an actuating device for active control design. A barycenter control scheme is developed to change the center of gravity of the robot fish body by moving balancing masses along two axes. The projected torque on x and y axes propel pitch and roll angles to the desired settings. A Stabilizing controller, fish-tail mechanism, rigid body dynamics, and kinematics are incorporated to enable the fish robot to move in three dimensional space. Simulation results have demonstrated maneuverability and control system performance of the developed controller which is proposed to conduct path tracking of the robot fish as it swims under current perturbations.     

The determination of the shelf-life of pasteurized and non-pasteurized sardine (Sardina pilchardus) marinades stored at 4 °C

In this study the shelf‐life of sardine marinades was investigated. After the marination process, sardine fillets were packed into glass jars with 2% citric acid, 4% sodium chloride and spices. The effect of pasteurization at 70 °C for 20 min on the shelf‐life of the sardine marinades was determined. At the end of 6 months storage the differences between thiobarbituric acid, free formaldehyde (FA(ex)), free and bound formaldehyde (FA(dest)) and peroxide value of pasteurized and non‐pasteurizated marinades were not significantly (P > 0.05) different, while the difference between total volatile basic nitrogen, trimethylamine, pH, total plate count and lactic acid bacteria count of pasteurized and non‐pasteurized marinades were. The shelf‐life of both pasteurized and non‐pasteurized sardine marinades was found to be 5 months at 4 °C.     

Stabilisation of protein and oil in fish silage for use as a ruminant feed supplement

Fish silage was prepared from 96.5% offal obtained from Atlantic cod fillet processing and 3.5% (by wt) formic acid. The fish silage became an homogeneous liquid of low viscosity in 36–58 h at 20°C; however, the oil and protein components continued to be hydrolysed for several months. Addition of formaldehyde to fish silage (0.25 or 0.39% by wt) after liquefaction was complete, served to prevent continued protein hydrolysis and oxidative rancidity of the oil. It also decreased the development of ‘off-odours’, and the formation of total volatile bases. Fish silage was readily absorbed by hay at a ratio of 1.5 parts silage to 1.0 parts hay by weight; the product is referred to as ‘haylage’. Voluntary intake by wethers of ‘haylage’ prepared from de-oiled, formaldehyde-treated fish silage was better than for ‘haylage’ prepared from untreated fish silage. The crude protein content of ‘haylage’ rations was more than satisfactory for fattening lambs, although the energy content of ‘haylage’ rations may be a limiting factor. Retention of fish oil in the silage to increase the energy content of rations was unsuccessful because voluntary feed intake was depressed. The addition of formaldehyde to fish silage is advantageous when the product is to be fed to ruminant livestock since protein and lipid degradation in the feed, and also possibly in the rumen, are minimised and voluntary intake of ‘haylage’ by sheep is increased.     

Structure of interstitial assemblages in a regulated channel of the river rhine (France)

The interstitial assemblages of the River Rhine were studied in the Rhinau sector (France). The studied area is located in aVegulated channel of the river, controlled by a hydroelectric dam. Twenty stations were sampled in September 1988. Ten litres of interstitial water were pumped at 50 cm depth in each station using the Bou-Rouch technique. Interstitial waters were poorly oxygenated and the hyporheic fauna had three major characteristics: (1) microcrustaceans were dominant, (2) the insects were rare and (3) the stygofauna was absent. The richest stations were well oxygenated and did not correspond to any particular geomorphological features. These findings contrast with the situation observed on other large European rivers (Rhǒne, Danube) where the interstitial assemblages appear to be locally more diversified and rich in stygofauna.     

Colour measurement of fish minces using hunter L,a, b values

Hunter L, a and b values are used to order fish mince colour according to species or processing parameters. Mince colour difference (ΔE) or statistical examination of L, a and b values are used to establish a 3-dimensional plot to illustrate colour differences between samples.     

Developing habitat associations for fishes in Lake Winnipeg by linking large scale bathymetric and substrate data with fish telemetry detections

Understanding relationships between freshwater fishes and habitat is critical for effective fisheries and habitat management. Habitat suitability indices (HSI) are commonly used to describe fish–habitat associations in rivers and other freshwater ecosystems. When applied to large lakes however, standard sampling procedures are inadequate because of larger sampling areas and an increased risk of fish collection bias through one-time observations. Here, we use lake bathymetry, substrate, and multiple fish telemetry detections collected from a systematically deployed receiver grid to develop HSI for four fish species (lake sturgeon, freshwater drum, common carp, and walleye) in Lake Winnipeg. Seasonal variations in habitat use based on water depth and substrate were observed in three of four species. Lake sturgeon remained in shallow locations with predominantly gravel substrate near the mouth of the Winnipeg River regardless of season. Freshwater drum persisted over fine substrate in both summer and winter but had a broader depth range in the summer compared to winter. Common carp shifted from mid-range depths and silt substrate in the summer to shallow depths and gravel substrate in the winter. Walleye showed an unchanging association to fine substrate but expanded from primarily mid-range depths in the summer to include shallower depths in the winter. These findings show how multiple telemetry detections per fish can be combined with hydroacoustic data to provide informative habitat associations for fishes in a large lacustrine ecosystem.     

Selectivity of Supercritical CO<Subscript>2 </Subscript>in the Fractionation of Hake Liver Oil Ethyl Esters

The solubility of different ethyl esters derivatized from hake liver oil in supercritical carbon dioxide was studied. A selectivity factor was used to determine optimal conditions to fractionate the ethyl ester mixture. A strong influence of solvent pressure and temperature was observed within 8.63–18.04 MPa and 40–70 °C. The lowest total solubility of the ethyl ester mixture was obtained when using supercritical carbon dioxide at the lowest density (the lowest pressure and the highest temperatures value tested). The highest discrimination against long-chain polyunsaturated fatty acids (e.g. EPA and DHA) was also obtained at these above conditions. Conversely, higher solubility and lower selectivity were obtained when solvent density increased. Considering this inverse correlation between selectivity and solubility, a single-step batch-fractionation process was designed to increase the 22:6 ethyl ester content from an initial value of 17.5% in the starting material to 55% in the final extract.     

Importance of Reservoir Tributaries to Spawning of Migratory Fish in the Upper Paraná River

Regulation of rivers by dams transforms previously lotic reaches above the dam into lentic ones and limits or prevents longitudinal connectivity, which impairs access to suitable habitats for the reproduction of many migratory fish species. Frequently, unregulated tributaries can provide important habitat heterogeneity to a regulated river and may mitigate the influence of impoundments on the mainstem river. We evaluated the importance of tributaries to spawning of migratory fish species over three spawning seasons, by comparing several abiotic conditions and larval fish distributions in four rivers that are tributaries to an impounded reach of the Upper Paraná River, Brazil. Our study confirmed reproduction of at least 8 long‐distance migrators, likely nine, out of a total of 19 occurring in the Upper Paraná River. Total larval densities and percentage species composition differed among tributaries, but the differences were not consistent among spawning seasons and unexpectedly were not strongly related to annual differences in temperature and hydrology. We hypothesize that under present conditions, densities of larvae of migratory species may be better related to efficiency of fish passage facilities than to temperature and hydrology. Our study indicates that adult fish are finding suitable habitat for spawning in tributaries, fish eggs are developing into larvae, and larvae are finding suitable rearing space in lagoons adjacent to the tributaries. Our findings also suggest the need for establishment of protected areas in unregulated and lightly regulated tributaries to preserve essential spawning and nursery habitats. Copyright © 2014 John Wiley & Sons, Ltd.